Robotic vehicle

ABSTRACT

A autonomous robotic golf caddy which is capable of following a portable receiver at a pre-determined distance, and which is capable of sensing a potential impending collision with an object in its path and stop prior to said potential impending collision.

The present invention is a continuation of U.S. patent application Ser.No. 16/952,754 filed Nov. 19, 2020, which in turn is a continuation ofU.S. patent application Ser. No. 16/685,298 filed Nov. 15, 2019 (nowU.S. Pat. No. 10,962,971, issued March 2021), which in turn is acontinuation of U.S. patent application Ser. No. 16/375,225 filed Apr.4, 2019 (now U.S. Pat. No. 10,649,451; issued May 12, 2020), which inturn is a continuation of U.S. patent application Ser. No. 16/156,526filed Oct. 10, 2018 (now U.S. Pat. No. 10,331,126; issued Jun. 25,2019), which in turn is a continuation of U.S. patent application Ser.No. 15/900,363 filed Feb. 20, 2018 (now U.S. Pat. No. 10,197,999; issuedFeb. 5, 2019), which in turn is a continuation-in-part of U.S. patentapplication Ser. No. 15/832,978 filed Dec. 6, 2017 (now U.S. Pat. No.10,180,329; issued Jan. 5, 2019), which in turn is a continuation ofU.S. patent application Ser. No. 15/293,660 filed Oct. 14, 2016 (nowU.S. Pat. No. 9,869,999; issued Jan. 16, 2018), which in turn claimspriority on U.S. Provisional Patent Application Ser. No. 62/242,349,filed Oct. 16, 2015, which are all incorporated herein by reference.

The present invention relates to robotic devices, particularly to arobotic golf caddy, and more particularly to an autonomous robotic golfcaddy which is capable of following a portable receiver at apre-determined distance, and which is capable of sensing an unacceptableor unauthorized location and/or an impending collision with an object inits path and stops prior to said collision and/or stops prior toentering an unacceptable or unauthorized location.

BACKGROUND ON THE INVENTION

Various robotic golf caddies have been developed using one or moreguidance methods and a drive mechanism to automatically follow a golfplayer around the golf course. Non-limiting examples of motorized golfcaddies are illustrated in US Publication Nos. 2017/0050659;2015/0327638; 2015/0136506; 2013/0098700; 2010/0241290; 2010/0168934;2009/0038864; 2008/0023236; 2003/0173122; 2003/0159864; and U.S. Pat.Nos. 8,573,338; 7,944,368; 6,404,159; 6,142,251; 5,963,150; 5,944,132;5,711,388; 5,611,406; 5,526,894; 5,350,982; 5,167,389; 4,570,732;4,109,186; 3,812,929; 3,742,507; EP 1060091; and WO 2013059423. Thevarious guidance systems discussed on one or more of these referencesuse various techniques to guide such golf caddies.

SUMMARY OF THE INVENTION

The present invention is directed to an autonomous robotic golf caddythat is responsive to a signal (e.g., radio signal, ultrasonic signal,infrared signal, active RFID, passive RFID, video signal, etc.). Thesize, shape, configuration and materials of the robotic golf caddy arenon-limiting. In one non-limiting arrangement of the present invention,the robotic golf caddy includes a vehicle frame, a vehicle housing, areceiver arrangement, a plurality of sensors, a processor unit, a motor,a plurality of wheels. In one non-limiting aspect of the presentinvention, the robotic golf caddy is configured to receive one or moresignals from a remote transmitter (e.g., active RFID, passive RFID,radio signal transmitter, ultrasonic signal transmitter, infrared signaltransmitter, electromagnetic wave transmitter, arbitrary waveformgenerator, pulse generator, etc.). In one non-limiting arrangement, theremote transmitter can be located on a golfer and the signal from theremote transmitter can be received by the robotic golf caddy to followthe golfer on a golf course. As can be appreciated, the remotetransmitter can be located in other or additional locations (e.g., clubhouse, storage house, at a particular golf hole or at some otherparticular location on a golf course). The robotic golf caddy isconfigured to include one or more sensors and navigational tools todetermine and/or sense the immediate environment about the robotic golfcaddy and to determine if the robotic caddy is in or moving toward anunacceptable or unauthorized location and/or if there is an impendingcollision with an object in the path of the robotic golf caddy to enablethe golf caddy to make a determination whether to stop or relocateitself. Although the present invention will be particularly describedwith reference to a robotic golf caddy, it can be appreciated that manyof the features of the present invention can be used in other types ofrobotic devices to control the movement of such devices (e.g., roboticwagon, robotic cart, robotic warehouse loaders and unloaders. and anyother robotic device that is used to follow an operator or user and/oris used to automatically move to a particular location).

In one non-limiting aspect of the present invention, the remotetransmitter can be worn, such as, for example, on a belt and/or placedin a pocket, or otherwise be carried by the golfer or user. The remotetransmitter can optionally include a housing, a belt clip, a radiotransceiver, an amplifier, a power source, and/or an antenna system;however, this is not required.

In another and/or alternative non-limiting aspect of the presentinvention, the receiver arrangement on the robotic golf caddy isdesigned to receive one or more signals from the remote transmitter andthen forward that information to the processor unit to process suchinformation and enable the robotic golf caddy to follow the golfer oruser on and off a golf course or other location where the golfer or useris located. The remote transmitter and receiver arrangement on therobotic golf caddy that is designed to receive signals from the remotetransmitter can be referred to as the “golfer tracking arrangement ofthe robotic golf caddy.”

In another and/or alternative non-limiting aspect of the presentinvention, the receiver arrangement on the robotic golf caddy can beconfigured to determine signal strength, time of flight, angle ofarrival, etc. of the signal from the remote transmitter to the receiverarrangement to improve assessment of the location of the golfer to therobotic golf caddy, the speed of movement of the golfer relative to therobotic golf caddy, and/or the direction of movement of the golferrelative to the robotic golf caddy. Such information can be used by therobotic golf caddy to speed up, slow down and/or adjust direction. Forexample, signal strength and time of flight information can be used todetermine distance between the golfer and the robotic golf caddy, andsuch information can be used to assess the location of the golfer to therobotic golf caddy and/or the speed of movement of the golfer relativeto the robotic golf caddy. The angle of arrival information can be usedto assess the location of the golfer to the robotic golf caddy and/orthe direction of movement of the golfer relative to the robotic golfcaddy. As can be appreciated, information regarding signal strength,time of flight, angle of arrival, etc. from a signal from a source otherthan the remote transmitter (e.g., local beacon, signal from club house,signal from cart barn, signals from cart path, signals from golf pin,etc.) can also be used to navigate the robotic caddy along the golfcourse and/or to a particular location.

In another and/or alternative non-limiting aspect of the presentinvention, the one or more sensors on the robotic golf caddy can provideadditional information to the processor unit to ensure that the roboticgolf caddy properly follows the golfer or user on and off the golfcourse or other location where the golfer or user is located.

In another and/or alternative non-limiting aspect of the presentinvention, the receiver arrangement on the robotic golf caddy and/or theremote transmitter can be configured to enable multiple robotic golfcaddies to be used on a golf course and have each robotic golf caddyonly follow a particular remote transmitter. Such an operation systemcan generally be accomplished by each of the remote transmitterstransmitting at a certain frequency to a certain robotic golf caddy. Insuch an arrangement, the robotic golf caddy only follows the remotetransmitter having a certain frequency or frequency band. Such anarrangement works when only a few robotic golf caddies are in operationon the golf course. However, when there are several robotic golf caddiesin simultaneous use on the golf course, the use of distinct signalfrequencies can become problematic since only a limited number ofdifferent frequencies are generally allowed for the operation of certaintypes of devices. In order to overcome this limitation, the robotic golfcaddy can be designed to identify multiple frequencies and/or specifictag information from a remote transmitter. With regard to the use ofmultiple frequencies, if six different frequencies are available foruse, then a total of 720 different frequency combinations are available.As such, a limited number of available frequencies can still be used todifferentiate different remote transmitters from one another. Forexample, if frequencies A, B, C, D, E and F are used, first remotetransmitter can send a signal for frequency A, a second remotetransmitter can send a signal for frequencies A and B, a third remotetransmitter can send a signal for frequencies A and C, a forth remotetransmitter can send a signal for frequency B, a fifth remotetransmitter can send a signal for frequencies C and F, a sixth remotetransmitter can send a signal for frequencies B and C and F, etc. Therobotic golf caddy can be configured to receive multiple frequencies andbe programmed to follow a certain frequency or a certain combination offrequencies. In addition to using multiple frequencies, a singlefrequency using channel stacking and/or multiplexing (e.g., phasemultiplexing, time domain multiplexing, orbital angular momentummultiplexing, space division multiplexing, polarization-divisionmultiplexing, frequency-division multiplexing, code divisionmultiplexing, time-division multiple access, carrier-sense multipleaccess, etc.) can also or alternatively be used to differentiatedifferent remote transmitters using a single frequency. A tag can beadded to a signal (e.g., tag added at beginning of a signal, etc.) thatis used to differentiate the signal from other signals to enable aspecific robotic golf caddy of a series of robotic golf caddies torespond to the tagged signal. As can be appreciated, other signalcontrol systems can be used to control and/or access the robotic golfcaddy. When multiple frequencies are used, the robotic caddy may includeone or more transmitters and/or receivers to transmit and/or receive theplurality of frequencies.

In another and/or alternative non-limiting aspect of the presentinvention, a single frequency is used to control a plurality of roboticgolf caddies. In such an arrangement, there are provided robotic golfcaddies A, B, C, D, etc. and transmitters A1, B1, C1, D1, etc.Transmitter A1 is configured to be associated to robotic golf caddy A,transmitter B1 is configured to be associated to robotic golf caddy B,etc. Transmitters A1, B1, C1, D1, etc. are configured to generate asingle signal at a certain frequency or frequency bandwidth. In orderfor the different robotic golf caddies to distinguish the single signalsfrom the transmitters, the signal from each transmitters includes aunique tag and/or use some other or additional channel stacking and/ormultiplexing technology. As such, when robotic golf caddies A, B, etc.are being used, and one golfer is using transmitter A1 and anothergolfer is using transmitter B1, etc., robotic golf caddies A, B, etc.are configured to receive the signals from transmitters, A1, B1, etc.,but are able to distinguish the signals from transmitters, A1, B1, etc.and thereby follow the golfer that is using the transmitter associatedwith the particular robotic golf caddy and ignore the signals receivedfrom the other transmitters that are associated with other robotic golfcaddies. In such an arrangement, a single frequency or frequencybandwidth can be used to control a plurality of robotic golf caddies. Assuch, a limited number of frequency or frequency bandwidth need to beused or registered to control a plurality of robotic golf caddies.

In another and/or alternative non-limiting aspect of the presentinvention, a plurality of robotic golf caddies can be monitored and/orcontrolled by use of a central network; however, this is not required.As such, communication, monitoring, servicing, navigating, and/orcontrolling of a plurality of robotic golf caddies can be accomplishedby use of a central network. For example, a central control system canbe used to program the robotic golf caddy to be associated with acertain remote transmitter. In another non-limiting example, a centralcontrol system can be used to monitor the location of a plurality ofrobotic golf caddies on a golf course.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy includes a vehicle frame having adrive mechanism mounted thereon. The drive mechanism typically comprisesat least one wheel driven by at least one motor (e.g., electric motor,gas-powered motor, etc.). The drive mechanism is connectable to thevehicle frame and is configured to cause the robotic golf caddy to movein response to a signal from the processor unit. In one non-limitingembodiment, the robotic golf caddy has three wheels; however, more orfewer wheels can be used. In one specific non-limiting embodiment, therobotic golf caddy includes three wheels with one or both rear wheelsbeing driven by the motor; however, this is not required. As can beappreciated, one motor can be associated with each of the rear wheels;however, this is not required. Alternatively, a single motor, such as,for example, a single motor having a differential gearing to drive bothrear wheels can be used; however, this is not required. Furthermore, amotor which utilizes a reduction gear box can be used; however, this isnot required. The drive mechanism can additionally include a powersource (e.g., a battery, etc.) coupled to the motor to provide power tothe drive mechanism. The drive mechanism typically includes at least onefront wheel configured to steer the robotic golf caddy in accordancewith control signals (e.g., processor signal) from the robotic caddyand/or remote transmitter; however, this is not required. As can beappreciated, the rotational speed of the rear wheels can be used tocontrol the steering of the robotic golf caddy in accordance withcontrol signals; however, this is not required. In one non-limitingembodiment of the present invention, the robotic golf caddy includes tworear wheels fixed to a drive motor, and a front wheel which is connectedto a bottom portion of the vehicle frame such that the front wheel canrotate approximately 360° around a pivot connection arrangement;however, this is not required. In such an embodiment, the two rearwheels are configured to move the robotic golf caddy forward and/orbackward while the front wheel is configured to steer the robotic golfcaddy. The size, shape and configuration of the wheels are non-limiting.The wheels are generally selected to maintain a balance of propertiesincluding, but not limited to, improved traction, improved wearresistance, and/or improved reliability.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy includes a processor unit thatincludes one or more processors which can be used to control the one ormore functions of the robotic golf caddy, including, but not limited to,the drive mechanism of the robotic golf caddy. The processor unit can beconfigured to control the drive mechanism so that the robotic golf caddyproperly follows a golfer on and off a golf course. In one non-limitingconfiguration, the processor unit includes a memory unit and software;however, this is not required. As such, the processor unit can includepreprogrammed software and/or information to control the operation ofthe robotic golf caddy; however, the processor unit can also be designedto be programmable. Such information can include, but is not limited to,a map of the golf course, topography of the golf course, location ofcart paths, location of greens, location of golf holes, location of clubhouse, location of rest locations, recharging locations, golf caddystorage location, cart barn, start point for golf caddy, driving rangelocation, barriers and obstacles on the golf course, restricted areas onthe golf course, movement limitations of the robotic golf caddy on thegolf course, etc. The processor unit can also or alternatively useinformation received from sensors, GPS, beacons, Bluetooth™ and/or otherwireless technologies (as described later) to control the operation ofthe robotic golf caddy; however, this is not required. In onenon-limiting configuration, the processor unit is in communication withat least one receiver of the robotic golf caddy. As such, the processorunit can be programmed to process an input received from the at leastone receiver to determine a position of the remote transmitter and tocause the robotic golf caddy to move relative to the remote transmitterin accordance with the programming of the processor unit; however, thisis not required.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy includes at least one receiverconfigured to receive a signal from a remote transmitter which can beheld by or attached to a golfer or user as the golfer moves on a golfcourse or other location. The signal from the remote transmitter can beused to provide a variety of different information to the processor unitto enable the processor unit to properly control the robotic golf caddy.Such information can include, but is not limited to, the distance of therobotic golf caddy from the golfer, the speed at which the robotic golfcaddy is approaching the golfer, the speed at which the golfer is movingon the golf course, the direction the golfer is moving on the golfcourse, the difference in speed between the golfer and the robotic golfcaddy, the difference in direction of movement between the golfer andthe robotic golf caddy, tipping angle of a golfer (information to beused if golfer is leaning over to tie a shoe, golfer is picking up aball, golfer is standing or walking on the side of a hill or embankment,etc.), etc. The information from the remote transmitter can be used tomaintain a proper distance of the robotic golf caddy from the golfer asthe golfer moves on and off the golf course (e.g., change the speed ofgolf caddy, change direction of movement of the golf caddy, etc.) and/orcause the robotic golf caddy to stop when the golfer stops moving, whenthe golf caddy is too close to the golfer, and/or when a detectedtipping angle is greater than a preset value (e.g., 25°-50°).

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy includes a plurality of sensorspositionable on one or more locations of the robotic golf caddy. Theplurality of sensors can be configured to provide a variety of differentinformation to the processor unit, thereby enabling the processor unitto properly control the robotic golf caddy. Such information caninclude, but is not limited to, the speed of the robotic golf caddy, thedistance of the robotic golf caddy from the golfer, the speed at whichthe robotic golf caddy is approaching the golfer, the speed at which thegolfer is moving on the golf course, the direction the golfer is movingon the golf course, the difference in speed between the golfer and therobotic golf caddy, the difference in direction of movement between thegolfer and the robotic golf caddy, topography of the golf course,whether the golf caddy is moving a flat or sloped surface, the steepnessof a sloped surface, the angle of tilt of the golf caddy as it moves ona non-flat surface, slippage of wheels on surface, barriers andobstacles on the golf course (e.g., trees, bushes, vegetation, lakes,ponds, rivers, sand traps, out of bounds lines, rocky regions, cliffs,steep slopes, gardens, steps, bridges, fences, gates, buildings, stakesand other markers, fountains, benches, chairs, golf ball cleaners,beverage dispensers, trash cans, trash and debris on and off the golfcourse, restroom, snack bar and other structures, other people on andoff the golf course, animals, other golf carts, other golf caddies,other vehicles, etc.), position of other golfers, golf equipment on theground, golf balls on the ground, ambient temperature, detection ofprecipitation, detection of wind speed and/or wind direction, barometricpressure, humidity levels, battery or power levels, temperature ofcomponents of the golf caddy, status and/or malfunction detection ofcomponents of the robotic golf caddy, etc. The information from theplurality of sensors can be used to 1) maintain a proper distance of therobotic golf caddy from the golfer as the golfer moves on the golfcourse, 2) staying within an acceptable or authorized location, 3)avoiding a collision with an object in its path, 4) preventing orlimiting damage to the robotic golf caddy, 5) limiting or preventing therobotic golf caddy from tipping over and/or becoming stuck, 6) stagingthe robotic caddy at a particular location, and/or 7) enabling therobotic caddy to automatically relocate itself at a particular location(e.g., move to next hole, move to a particular hole, move to cart barn,etc.). As can be appreciated, the sensors can be also used to assist thegolfer (e.g., locate a golf ball, locate cart path, locate next hole,locate route back to club house or some other location on the golfcourse, provide information on topography of the hole, provide distanceinformation to the hole, provide wind speed and/or direction, provideambient temperature, provide humidity level, inform golfer of sensedobstacles such as sensed obstacles between the golfer and the hole(e.g., other golfers, persons or animals on the course, trees, bushes,fences, bridges, benches, boulders, etc.); however, this is notrequired. The plurality of sensors can be configured to operate togetheras part of at least one system (e.g., collision avoidance arrangement,navigation arrangement, user information arrangement, etc.); however,this is not required. As can be appreciated, at least one of theplurality of sensors can be configured to operate independently (e.g.,gradient sensor, lateral sensor, wind sensor, temperature sensor, etc.)from one or more other sensors; however, this is not required. Inanother and/or alternative non-limiting aspect of the present invention,the information from the plurality of sensors can also or alternativelybe used to enable the robotic golf caddy to avoid hazards, obstacles,etc. on and off the golf course and/or to avoid certain areas of a golfcourse (e.g., putting green, practice range, parking lot, club house,restrooms, etc.) as the robotic golf caddy moves on the golf course.Non-limiting examples of the one or more sensor systems that can be usedin the robotic golf caddy include LIDAR, RF-based sensor system forcollision avoidance, ultrasonic sensor system, ultra-wide band sensorsystem, etc. The sensors can be used independently or in conjunctionwith the remote transmitter to control movement of the robotic golfcaddy. For example, if the robotic caddy is to be sent to a stagingarea, to a cart barn, etc., the robotic caddy can be configured toautomatically move to such staging area, cart barn, etc. without use ofa remote transmitter.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy includes a navigation arrangementconfigured to control the movement of the robotic golf caddy on and offthe golf course; however, this is not required. As such, informationfrom the plurality of sensors can also or alternatively be used tocontrol the movement of the robotic golf caddy on and off the golfcourse; however, this is not required. The types and number of sensorsthat can be used are non-limiting. A LIDAR sensor system (when used),generally uses ultraviolet, visible and/or near infrared light to imageobjects. Furthermore, a LIDAR sensor system (when used) can utilize“incoherent” or direct energy detection and/or coherent detection;however, this is not required. Generally, a micropulse LIDAR system(when used) requires less energy and is “eye-safe.” The LIDAR system(when used) typically includes one or more lasers (e.g., 500-2000 nmlaser, etc.), photodetectors and receiver electronics (e.g., solid statephotodetectors [silicon avalanche photodiodes, photomultipliers, etc.]),and position and navigation arrangements (e.g., Global PositioningSystem receiver, Inertial Measurement Unit (IMU), etc.). Althoughnarrowband technology (e.g., RF system, LIDAR system, etc.) can be used,in some instances it can be susceptible to multipath interference. Inthis regard, the signal can be distorted because it takes many differentpaths to reach the receiver, thereby potentially resulting in loss ofsignal tracking, veering off course, or complete shut-down of thesystem. In addition to the potential problems associated with multipathinterference when using narrowband technology, narrowband technology canalso experience interference from metal objects on a golf course (e.g.,bridges, buildings, etc.) which can potentially result in a loss ofsignal tracking. Similarly, high-voltage electrical sources (e.g.,unshielded conduits on the golf course, etc.) can also interfere withsignal tracking. Such interference can result in loss of communicationbetween the golfer and robotic golf caddy, thereby potentially causingthe robotic golf caddy to potentially veer off course and/or shut down.One alternative to narrowband technology is to use ultra-wide bandtechnology to transmit information spread over a large bandwidth (e.g.,greater than 500 MHz, etc.). When ultra-wide band technology is used,objects in real time and/or near-real time can be located with highprecision (e.g., within 3 feet, within 1 foot, within 10 cm, etc.). Inone non-limiting embodiment of the present invention, the robotic golfcaddy utilizes an ultra-wide band sensor system to assist in navigation;however, this is not required. In one non-limiting arrangement, anultra-wide band sensor system is used by the robotic golf caddy and isconfigured to operate at about 20-200 megapulses per second (and allvalues and ranges therebetween) (e.g., 40 megapulses per second);however, this is not required. In another and/or alternativenon-limiting arrangement, an ultra-wide band bandwidth sensor system isused by the robotic golf caddy; however, this is not required. Onesource of ultra-wide band bandwidth sensors that can optionally be usedare offered by decaWave™ (DWM1000 Module); however, other ultra-wideband bandwidth sensors can be used. The decaWave™ system (when used) canbe used for maneuverability of the robotic golf caddy; however, this isnot required. The decaWave™ system can provide several non-limitingadvantages including, but not limited to, the ability to locate objectswithin 10 cm accuracy, capable of identifying up to about 10,000 itemswithin a 20 meter radius, offer both one-way and two-way rangingcapabilities, and is generally unaffected by multipath fading. As can beappreciated, Bluetooth®, RFID, Wi-Fi, and/or other wireless technologiescan also be optionally used for tracking between the golfer and roboticgolf caddy and/or for navigation of the robotic golf caddy. Generally,the robotic golf caddy includes at least two different types of sensors;however, this is not required. In one non-limiting arrangement, therobotic golf caddy includes one or more ultrasonic sensors that areprimarily used for collision avoidance as the robotic golf caddy movesin forward direction. As such, the one or more ultrasonic sensors areused to primarily detect objects in front of the robotic golf caddy;however, it can be appreciated that the ultrasonic sensors are to bepositioned about the robotic caddy so as to sense objects up to 360°about the robotic caddy. In this non-limiting arrangement, the roboticgolf caddy also includes one or more ultra-wide band bandwidth sensors.These sensors are used to detect objects located about the robotic golfcaddy and not just in front of the robotic golf caddy. Generally, theobject detection range of the one or more ultra-wide band bandwidthsensors is greater than the one or more ultrasonic sensors; however,this is not required. In one specific configuration, the robotic golfcaddy includes 2-8 ultrasonic or LIDAR sensors and 2-6 wide bandbandwidth sensors. The ultrasonic or LIDAR sensors can be positioned inany region about the robotic golf caddy. The LIDAR and/or ultrasoniccollision avoidance arrangement can be used to detect objects up to 100+ft. (e.g., 0-500 ft. and all values and ranges therebetween) from therobotic golf caddy; the robotic golf caddy can use such information toavoid collision with such objects. The wide band bandwidth sensorarrangement can be used to complement the LIDAR and/or ultrasoniccollision avoidance arrangement to provide additional information aboutobjects located about the robotic golf caddy. The wide band bandwidthsensor arrangement can also be used to detect objects up to 100+ ft.(e.g., 0-500 ft. and all values and ranges therebetween) from therobotic golf caddy so that the robotic golf caddy can use suchinformation to avoid collision with such object. In one non-limitingdesign, a LIDAR and/or ultrasonic sensor is located at least threeregions about the robotic golf caddy. Such a configuration can be usedto detect collision by the robotic golf caddy at a location only about afront region of the robotic golf caddy or at all locations about therobotic golf caddy. As can be appreciated, more than three or less thanthree LIDAR and/or ultrasonic sensors can be used. Also for thisnon-limiting design, the robotic golf caddy can include two or more wideband bandwidth sensors. The combined information from these two sensorarrangements can be used by the processor unit to move the robotic golfcaddy clear of objects on the golf course and to safely and effectivelycause the robotic golf caddy to follow a golfer on the golf course. Thethird sensor arrangement, namely the remote transmitter/receiverarrangement between the robotic golf caddy and the remotetransmitter/receiver on the golfer, ensures that the robotic golf caddyfollows the golfer on the golf course.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy includes a collision avoidancearrangement which is capable of determining whether an object ofsufficient mass is in a path of movement of the robotic golf caddy. Thecollision avoidance arrangement can be configured to determine whetheran object is within a specified minimum distance around the robotic golfcaddy; however, this is not required. When it is determined that anobject of sufficient mass is in the path of movement of the robotic golfcaddy, and/or when the object is within a specified minimum distance ofthe robotic golf caddy, the processor unit can use such information tostop the robotic golf caddy, adjust the speed of the robotic caddy,and/or reroute the robotic golf caddy around the object. As such, thecollision avoidance arrangement of the robotic golf caddy enables therobotic golf caddy to avoid or stop before it contacts an object. In onenon-limiting configuration, the collision avoidance arrangement utilizesa plurality of sensors spaced about the robotic golf caddy. The type ofsensor used in the collision avoidance arrangement is non-limiting andcan include sensors such as, for example, RF sensors, ultra-wide bandbandwidth sensors, ultra-sound sensors, infrared sensors, RFID sensors,laser sensors, camera sensors, etc. In another non-limitingconfiguration, the robotic golf caddy is configured to continue to movewhile the golfer is in the field of view or otherwise detected by therobotic golf caddy. As such, the collision avoidance arrangement is ableto identify the golfer associated with the robotic golf caddy and tocontinue to move with the golfer even though the golfer is in the fieldof view or otherwise detected by the robotic golf caddy and could beconsidered a potential obstacle to the robotic golf caddy. This uniquefeature of the robotic golf caddy enables the robotic golf caddy tofollow the golfer and ignore the golfer as an obstacle to avoid duringuse of the robotic golf caddy. The collision avoidance arrangement canbe configured to cause the robotic golf caddy to stop before coming intocontact with a golfer (e.g., stop within 5 inches to 3 feet of thegolfer (and all values and ranges therebetween), etc.); however, whilethe golfer is beyond a predetermined stop distance from the robotic golfcaddy, the collision avoidance arrangement enables the robotic golfcaddy to move with the golfer while simultaneously avoiding collisionwith other objects or golfers. For instance, the collision avoidancearrangement can include one or more sensors (e.g., ultrasonic sensors)that are used to detect objects up to about 10-20 meters in front of therobotic golf caddy. These sensors can be used to track the movement ofthe golfer and other objects in front of the robotic golf caddy, butsuch information from the one or more sensors will not cause the roboticgolf caddy to discontinue following the golfer even though the presenceof the golfer is located in front of the robotic golf caddy, nor willsuch information be used to cause the robotic golf caddy to move aroundor away from the golfer. The information from the one or more sensors isused by the collision avoidance arrangement, so long as the golfer isfarther than some predetermined minimum distance from the robotic golfcaddy (e.g., 5 inches to 3 feet), to monitor the movement of the golferassociated with the robotic caddy and to cause the robotic caddy toavoid collision with other objects as the robotic golf caddy moves withthe golfer.

In another and/or alternative non-limiting aspect of the presentinvention, the collision avoidance arrangement can be configured tocause the robotic golf caddy to stop prior to collision with an objectand provide notification to the golfer that the robotic golf caddy hasstopped. Such notification can be a particular sound or set of sounds,an electronic voice statement (e.g., “The unit has stopped”, etc.),and/or some other type of notification (e.g., flashing light, message tosmart device, etc.). The robotic golf caddy can be configured to shutoff if the golfer does not move away from the obstacle that has causedthe robotic golf caddy to stop within a certain period of time (e.g., 10seconds-10 minutes (and all values and ranges therebetween), etc.). Whenthe golfer is notified that the robotic golf caddy has stopped, thegolfer can walk to a location that enables the robotic golf caddy tofollow the golfer without colliding with the object that initiallycaused the robotic golf caddy to stop. If the golfer does not movewithin a certain period of time (e.g., .g., 10 seconds-10 minutes) to alocation that enables the robotic golf caddy to follow the golferwithout colliding with the object that initially caused the robotic golfcaddy to shutdown, the robotic golf caddy can be configured to stopand/or disconnect from the transmitter on the golfer. In such aconfiguration, if the robotic golf caddy has shut down and/ordisconnected from the transmitter on the golfer, the transmitter on thegolfer can be caused to reconnect with the robotic golf caddy by 1)merely walking within a certain distance of the robotic golf caddy, 2)activating a reengagement button on the transmitter and/or robotic golfcaddy, and/or 3) turning the transmitter off and then on. Thereconnection and/or disconnection of the transmitter from the roboticgolf caddy can be a particular sound or set of sounds, an electronicvoice statement, and/or some other type of notification (e.g., flashinglight, message to smart device, etc.).

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can be configured to follow the sameor similar path as the golfer or follow the golfer based on the paththat constitutes the shortest distance to the golfer. For instance, ifthe golfer is walking on a serpentine path, the robotic golf caddy canbe configured to move in a straight line that represents the shortestdistance to the golfer, or the robotic golf caddy can be configured toobtain information about the direction of the movement of the golfer atcertain time intervals or at all times and then match the movement ofthe golfer to follow the path of the golfer.

In another and/or alternative non-limiting aspect of the presentinvention, the collision avoidance arrangement utilizes a plurality ofultra-sound sensors for object detection; however, this is not required.In one non-limiting arrangement, the robotic golf caddy includes fromabout 1 to about 40 sensors (and all ranges or values therebetween), andmore typically from at least 2 to about 20 sensors; however, this is notrequired. In one specific non-limiting arrangement, the robotic golfcaddy includes 2-4 ultra-sound sensors positioned around the roboticgolf caddy; however, this is not required. The size, shape and type ofsensor is non-limiting. As can be appreciated, one or more of thesensors can be angled so as to facilitate placement on a corner and/orangled portion of the robotic golf caddy. One or more of the sensors canhave a non-overlapping field of coverage; however, this is not required.The collision avoidance arrangement can be used to detect objects atvarying distances (e.g., 0.001-100 feet, etc.) from the sensors. Theprocessor unit can include rules and/or limitations forming part of theprocessor programming which are configured to direct the operation ofthe robotic golf caddy when an object is detected by the sensors of thecollision avoidance arrangement; however, this is not required. Therobotic golf caddy may optionally include a satellite navigationarrangement and/or programmed map to assist in controlling the movementof the robotic golf caddy in a defined area. In another and/oralternative non-limiting arrangement, the robotic golf caddy isoptionally configured to emit a sound when a potential impendingcollision is within a certain, predetermined radius of the robotic golfcaddy; however, this is not required. In another and/or alternativenon-limiting arrangement, the collision avoidance arrangement has anaccuracy within about 1-1000 cm (and all values and rangestherebetween); however, this is not required. In another and/oralternative non-limiting arrangement, the collision avoidancearrangement transmits at a frequency of about 100-1000 MHz (and allvalues and ranges therebetween) (e.g., 433 MHz); however, this is notrequired.

In another and/or alternative non-limiting aspect of the presentinvention, the position of objects on the golf course can continuouslybe determined via the plurality of sensors on the robotic golf caddy. Inone non-limiting arrangement, when the golfer is walking along a pathand an object, such as, for example, a rock, bench, light, etc. has beenplaced on the path, the plurality of sensors on the robotic golf caddyare capable of sensing the object. Furthermore, the sensors are capableof sending a signal to the processor unit of the robotic golf caddy thatan object is in its path. The processor unit is configured to be capableof distinguishing the potential impending collision by signals receivedfrom the one or more sensors, thereby preventing the robotic golf caddyfrom a collision therewith. In another and/or alternative non-limitingaspect of the present invention, the determined position of objects inthe path of the robotic golf caddy can be overlaid over a programmed mapof the golf course and/or Google® map or other cloud-based map of thegolf course, and/or all or a portion of a golf course map beingtransmitted to the robotic golf caddy; however, this is not required. Assuch, the processor unit can determine the best possible path ofmovement to avoid collision with the object and/or to move around theobject in the path of the robotic golf caddy. Thus, the plurality ofsensors on the robotic golf caddy can be used to (i) sense, and/or (ii)prevent impending collisions with objects on the golf course. In onenon-limiting arrangement, the plurality of sensors is used tocontinuously determine whether an object is in the path of the roboticgolf caddy when the robotic golf caddy is being used on and off a golfcourse. In operation, the collision avoidance arrangement can detect apotential impending collision by: (i) sensing a presence of a potentialimpending object using at least one sensor (e.g., ultrasound sensor, RFsensor, RFID sensor, ultra-wide band sensor, LIDAR sensor, etc.) mountedto a housing of the robotic golf caddy, (ii) determining whether thesensed potential impending object is a moving object or stationaryobject using a processor unit in communication with at least one sensor,(iii) determining the position of the sensed potential impending object,and (iv) stopping or moving the robotic golf caddy around the sensedpotential impending object in response to an output signal from theprocessor unit.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can optionally include an imagecapturing system; however, this is not required. The image capturingsystem (when used) can be mounted to the robotic golf caddy, and caninclude at least one scanner and/or at least one camera (e.g., digitalcamera, video camera, digital video camera, etc.) capable of capturingframe images. The image capturing system (when used) can optionallyinclude an information storage unit capable of storing the capturedframe images, and/or a captured frame image classification unit capableof processing the captured frame images by operations utilizing, suchas, for example, image classification technology, image recognitiontechnology, image decoding technology, etc. The image capturing system(when used) can be in communication with the processor unit to be usedto assist in the navigation of the robotic golf caddy or be the primaryor only type of sensor that is used to enable or control navigation ofthe robotic golf caddy; however, this is not required. For example, animage capturing system alone or in combination with a positioning system(e.g., GPS, LORAN, etc.) could be used as the only navigation system forthe robotic golf caddy. Also or alternatively, one or more of the imagescaptured by the image capturing systems can be transmitted to a remotelocation (e.g., the golf course club house, etc.); however, this is notrequired. As such, if a bench, for example, is detected by the collisionavoidance arrangement as being in the path of movement of the roboticgolf caddy, the image capturing system (when used) can optionallycapture frame images of the object, and decode the object as being abench in the path of the robotic golf caddy. A signal can be sent backto the club house alerting golf course employees that an object decodedas being a bench is out of place on the golf course. Also, if anunexpected object is detected by the collision avoidance arrangement ofthe robotic golf caddy, an image of such object can optionally betransmitted to a remote location such as a golf course club house,alerting golf course employees that an object is out of place on thegolf course. As can be appreciated, the image capturing system (whenused) can be used for security verification purposes such as toauthorize operation and/or service of the robotic golf caddy, faciallyrecognize a user to access information about the user and/or to provideaccess to services for user (e.g., membership info, golfer name, golferhandicap, updated golfer scores in club handicap system, golfer teetime, payment authorization, order food or other services, schedule newtee time, restaurant reservations, club preferences for certaindistances, Wi-Fi access, settings for the robotic caddy [e.g., distancerobotic golf caddy to stay behind golfer, pace of golfer, holes to beplayed by golfer, etc.], etc.) during the use of the robotic golf caddy;however, this is not required. As can be appreciated, other oradditional biometric verification systems can be used (e.g., retinaidentification, finger print identification, voice identification,etc.). As also can be appreciated, the image capturing system (whenused) can be used to assist the golfer. For example, the image capturingsystem can be used to estimate the location of the hit golf ball,estimate the distance the golf ball was hit, provide information to thegolfer regarding club speed, ball spin, ball trajectory angle, ballstrike location, golfer gait, golfer stance and swing information, etc.The robotic golf caddy can be used to track smart golf balls (e.g., golfballs that have transmitters or microchips) to provide information ongolf ball location, ball spin, ball trajectory angle, ball strikelocation, ball speed, etc. This information can then be provided to thegolfer, played back for the golfer, and/or analysis can be provided tothe golfer based on the recorded information. As such, the imagecapturing system can be used to provide analysis and training to thegolfer.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can optionally include at least onelateral sensor mounted to the robotic golf caddy that is configured todetect a sideways tipping movement of the robotic golf caddy; however,this is not required. The at least one lateral sensor (when used) can bein communication with the processor unit. The processor unit can beconfigured to distinguish the sideways tipping movement of the roboticgolf caddy by signals received from the one or more lateral sensor and,if a signal is over a predetermined limit, the processor unit will stopor alter the direction of movement of the robotic golf caddy to preventthe robotic golf caddy from tipping over. The lateral sensor can be inthe form of an accelerometer that is located on the robotic golf caddyand/or on the remote transmitter. The accelerometer can be used todetect angles, slopes, yaw, etc. as the golfer and/or robotic golf caddymoves over a ground surface. This information can be used by theprocessor unit of the robotic golf caddy to adjust the speed and/ordirection of movement of the robotic golf caddy.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can optionally include a gradientsensor mounted to the robotic golf caddy and capable of sensing theincline of a gradient; however, this is not required. The at least onegradient sensor (when used) can be in communication with the processorunit. The processor unit can be configured to distinguish the gradientby signals received from the one or more gradient sensors and, if asignal is over a predetermined limit, the processor unit will stop oralter the direction of movement of the robotic golf caddy to prevent therobotic golf caddy from going up or down a too steep of gradient. Thegradient sensor can be in the form of an accelerometer that is locatedon the robotic golf caddy and/or on the remote transmitter. Theaccelerometer can be used to detect angles, slopes, yaw, etc. as thegolfer and/or robotic golf caddy moves over a ground surface. Thisinformation can be used by the processor unit of the robotic golf caddyto adjust the speed and/or direction of movement of the robotic golfcaddy.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can optionally include one or moresensors to determine if the wheels are slipping on a surface or arestuck in a surface. For example, the robotic golf caddy may travel on anarea of loose ground, sand, mud, etc. which can result in the wheels ofthe caddy spinning, slipping or experiencing high resistance duringrotation. The robotic golf caddy can include one or more sensors thatdetermine such spinning or slippage or high rotation resistance of thetires (e.g., one or more sensors measuring rotation speed of wheelsverses actual movement of the robotic caddy, one or more sensorsmeasuring wheel rotation resistance, etc.). This information can be usedby the processor unit to stop the robotic caddy, increase the power tothe drive system, increase or reduce the speed of the robotic caddy,etc.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can include a positioning system suchas a Global Positioning System (GPS). The type of GPS is non-limiting.As can be appreciated, other or additional types of positioning systemssuch as LORAN or GSM can be used. The positioning system can beconfigured to be preprogrammed with golf course maps, area maps;however, this is not required. As can be appreciated, the positioningsystem can be configured to be programmed; however, this is notrequired. As such, the positioning system can optionally include aconnection arrangement (e.g., wireless connection, wired connection,etc.) to enable programming and/or updating of the positioning systemwith information, such as, for example, golf course map information,golf course topography, restricted or unsafe areas for purposes ofgeofencing, golf path info, obstacle info, golf tee position, rest areainformation, club house location, snack bar location, driving rangelocation, etc. The positioning system can be configured to sendinformation to a display so as to display information to the user,including, but not limited to, the golf hole number, distance to thecenter of the green, distance to the front of the green, distance to theback of the green, obstacles between golfer and pin, recommended shotlocation, topography of hole, etc. In operation, the positioning systemcan automatically advance to the next golf hole as a user moves aroundthe golf course; however, this is not required. As can be appreciated,the positioning system can be manually operated so as to select a golfhole different than the current golf hole. In one non-limitingarrangement, the position system includes a shot distance featuredesigned to allow a user to easily and conveniently determine a distancebetween any location on a golf course (e.g., distance between therobotic golf caddy and/golf ball and the hole, distance between roboticgolf caddy and/golf ball and pond, distance between robotic golf caddyand/golf ball and sand bunker, distance between robotic golf caddyand/golf ball and creek, distance between robotic golf caddy and/golfball and a hazard, etc.); however, this is not required.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can use the GPS, LORAN, and/or GSMsystems, and one or more sensors as a tracking system, navigationarrangement and/or collision avoidance arrangement for the robotic golfcaddy; however, this is not required. In one non-limiting arrangement,the robotic golf caddy includes a positioning system (e.g., GPS-basedtracking device, etc.) to locate the position of the robotic golf caddyin real time or near-real time, anywhere in the world; however, this isnot required. As can be appreciated, other types of tracking devices canbe used. In one non-limiting arrangement, the positioning system can behard-wired into a power supply (e.g., a battery) of the robotic golfcaddy; however, this is not required. The positioning system can becapable of tracking the position of the robotic golf caddy on a golfcourse in real time or near-real time. The information from thepositioning system can be used to prevent damage to the robotic golfcaddy, prevent theft of the robotic golf caddy, and locate the positionof a golfer using a robotic golf caddy on the golf course, etc. Thepositioning system can also or alternatively provide information, suchas, but not limited to, 1) providing a detailed history of where therobotic golf caddy has been, 2) tracking the name, location, numberand/or type of golf courses (e.g., number of 9-hole golf courses, numberof 18-hole golf courses, etc.) where the robotic golf caddy has beenused, 3) tracking the hours of use of the robotic golf caddy, and/or 4)tracking the distance the robotic caddy has traveled in an hour, day,week, month, year, and/or life of the robotic golf caddy, etc. Thepositioning system can optionally include a geofencing system to trackkey areas of interest and, if needed, alerts can be created and sent toa robotic golf caddy in that area; however, this is not required. Suchgeofencing can be used to limit the regions that the robotic golf caddycan move, and/or control the movement of the robotic caddy duringcertain areas on a golf course. The positioning system can also oralternatively identify “hot spots” on the golf course (e.g., unsafeplaces, repair locations, high use areas, etc.). In one non-limitingarrangement, the robotic golf caddy can create an alert when it isbrought into one of these specified areas; however, this is notrequired. Generally, geofences are limited only by the imagination ofthe user (e.g., “Cart Path Only,” “Pace of Play,” etc.) and can becontrolled on a unit-by-unit basis such that each robotic golf caddy hasan individual fence, or across all robotic golf caddies such that allrobotic golf caddies share the same fence. As such, geofencinginformation can be sent to the robotic golf caddy to force the roboticgolf caddy to remain on the cart path when the golf course is wet.Geofencing information can be sent to the robotic golf caddy to forcethe robotic golf caddy to avoid certain areas, such as areas underrepair, areas near a driving range, areas outside the golf course, outof bounds areas on a golf course, etc. As can be appreciated, thegeofencing information can be periodically updated via wireless or wiredcommunication with the robotic caddy. The positioning system can also oralternatively be used to monitor proper operation of the robotic golfcaddy. For example, if the robotic golf caddy is moving too fast, tooslow and/or at an irregular pace, such information and/or alert can besent to the golfer and/or to a remote monitoring location. Thisinformation can be used to stop the robotic golf caddy, reset therobotic golf caddy, or have maintenance sent to the robotic golf caddy.Likewise, if the robotic golf caddy is having a battery problem (e.g.,defective battery, low battery life, etc.), or is having electronic ormechanical problems (e.g., one of the sensors is not properly working,GPS or other types of positioning devices not properly working, displayfault or failure, drive mechanism fault or failure, flat tire, etc.),such information and/or alert can be sent to the golfer and/or to aremote monitoring location. This information can be used to stop therobotic golf caddy, reset the robotic golf caddy, and/or havemaintenance sent to the robotic golf caddy. Also, if the robotic golfcaddy is somehow damaged during use, such information and/or alert canbe sent to the golfer and/or to a remote monitoring location. Thisinformation can be used to stop the robotic golf caddy, reset therobotic golf caddy, and/or have maintenance sent to the robotic golfcaddy.

In another or alternative non-limiting aspect of the invention, therobotic golf caddy can monitor battery capacity, and, if needed, createalerts to indicate a battery problem.

In another or alternative non-limiting aspect of the invention, therobotic golf caddy can provide an “SOS” button and, if needed, cancreate alerts broadcasting the exact position of the robotic golf caddy.

In another or alternative non-limiting aspect of the invention, therobotic golf caddy can include one or more displays, and/or transmitinformation to a smart device (e.g., smart phone, tablet, laptop, etc.)being used by the golfer and/or operator (e.g., owner of robotic golfcaddy, service provider of golf caddy, employee of golf course, etc.).The robotic golf caddy can be configured to transmit information to aremote location for being viewed real time, near-real time or at somelater time at a remote location (e.g., data center, remote computer,etc.); however, this is not required. As can be appreciated, informationfrom the robotic golf caddy can be transmitted to a smart device to bedisplayed on the smart device; however, this is not required. Theinformation collected and/or sensed by the robotic golf caddy canoptionally be stored in a memory unit of the robotic golf caddy forlater viewing and/or downloading and/or can be transmitted real time,near-real time or at designated time intervals to a remote storagefacility. As such, any information can be sent from the robotic caddy toa smart device (e.g., diagnostic information, status information, shutdown information, battery status, SOS signal, information about movementof the robotic golf caddy on a golf course, golfer information, courseinformation, course rules, tee times, etc.). As can be appreciated, thesmart device can be designed to also send information to the roboticgolf caddy. For example, information regarding programming, rebootingoperation system, software updates, mapping updates, stopping orshutting down the robotic golf caddy, instructing the robotic golf caddyto go to another hole or to cart barn or to another location, sendingmessages to the golfer using the robotic golf caddy, sending messagesbetween golfers, sending alerts to the robotic golf caddy (e.g., weatheralerts, updates on work on golf course, updates on hazards or repairs ongolf course, updates on golfer speed on golf course, updates on speed ofgolfers ahead and/or behind golfer on golf course, general emergencymessages to golfer or to a specific golfer, etc.), updated geofencinginfo, sending golf scores to golf caddy, sending personal information torobotic golf caddy, etc.

Communication between the robotic caddy and smart device can be by wiredconnection and/or by wireless connection (e.g., Bluetooth®, Wi-Fi,etc.). The location of the one or more displays (when used) on therobotic golf caddy is non-limiting. In one non-limiting arrangement, oneor more displays are located on a front side of the robotic golf caddy.The one or more displays (when used) can be permanently or releasablyconnected to the body of the robotic caddy. As can be appreciated, thebody of the robotic caddy can include a holder so that a golfer's ownsmart device could be releasably connected to the body of the roboticgolf caddy to function as at least one of the displays on the roboticcaddy; however, this is not required.

In another or alternative non-limiting aspect of the invention, a smartdevice can be used 1) as the remote transmitter, 2) to provide commandsand/or information to the robotic golf caddy, and/or 3) to receiveinformation from the robotic golf caddy. In one non-limiting embodiment,the smart device can include an app or other type of software that canbe used to communicate with the robotic golf caddy. For example, agolfer could load and use an app on his/her smart device (e.g., smartphone, etc.) and cause the smart device to function as the remotetransmitter during use of the robotic golf caddy on a golf course;however, this is not required. In another example, the smart device cancommunicate with the golfer to enable the robotic golf caddy to identifythe golfer, authenticate authorized use of the robotic golf caddy by thegolfer, and/or provide personal information and/or services to thegolfer. For instance, the communication between the smart device and therobotic golf caddy can be used to confirm that the robotic golf caddy isto be used with a particular golfer. Therefore, only after confirmationof authorization would the robotic golf caddy follow the golfer on thegolf course. Also, the communication between the smart device and therobotic golf caddy can be used to provide information to the roboticgolf caddy regarding the golfer using the robotic golf caddy. Suchinformation can be used to enable the golfer to 1) access handicapinformation provided by the robotic golf caddy, 2) provide paymentinformation to the robotic golf caddy to enable the golfer to pay foruse of the robotic golf caddy, purchase food and drink on the golfcourse, pay for current or future golf rounds, pay for human caddy, payfor golf instruction or lessons, pay membership dues, 3) personalize theuse of the robotic golf caddy with the golfer (e.g., speed of movementof the robotic golf caddy, the distance the robotic golf caddy staysbehind the golfer, etc.), 4) provide the golfer tips that are specificto the golfer and/or based on the golfer's history on the golf course,5) provide real-time location information (e.g., GPS information) to therobotic golf caddy from the smart device, which can then be used toprovide hole information, topography information, etc. to the golfer fora particular hole, and/or 6) enable the golfer to communicate with theclub house or golf office and/or enable the club house or golf office tocommunicate with the golfer (e.g., golfer receiving warnings from theclub house or golf office regarding weather conditions, golfer receivingwarnings from the club house or golf office about moving too slowly,golfer receiving information from the club house or golf office aboutthe speed of golfers that are located ahead of or behind golfer, golferreceiving information from the club house or golf office about foodorder status or location of food cart, golfer receiving information fromthe club house or golf office about messages left at club house or golfoffice, golfer providing information to club house or golf office aboutproblems on the golf course, golfer providing information to club houseor golf office about golf scores, golfer providing information to clubhouse or golf office to order food or drink, golfer providinginformation to club house or golf office about payment information,golfer providing information to club house or golf office about futurereservations, etc.). As can be appreciated, the smart device can be usedto 1) download operational information from the robotic golf caddy, 2)provide updates to the robotic golf caddy, 3) monitor operation of therobotic golf caddy, 4) conduct diagnostics on the robotic golf caddy, 5)instruct the robotic golf caddy to move to a certain location of thegolf course (e.g., staging of the robotic golf caddy for an event,instructing robotic golf caddy to go to a particular golf hole, instructthe robotic golf caddy to go to a storage area, instruct robotic caddyto go to next hole or to some specific hole, cart barn or repair areaand/or charging area, etc.), and/or 6) otherwise control the operationof the robotic golf caddy.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can include a GPS and/or GSM system,LORAN system, Bluetooth® technology and/or other wireless technology,and/or a programmed map/information of the golf course and use varioustypes of signals (e.g., ultrasonic signals, infrared signals, radiowaves, etc.) to provide a variety of information to the processor unitto enable the processor unit to properly control the robotic golf caddyand/or provide information to the golfer. Such information can include,but is not limited to, the speed of the robotic golf caddy, topographyof the golf course, barriers and/or obstacles on the golf course (e.g.,trees, bushes, lakes, rivers, sand traps, out of bounds lines, rockyregions, cliffs, steep slopes, gardens, steps, bridges, etc.), locationof the robotic golf caddy on the golf course, hole at which the roboticcaddy is located, time period of play, speed of play, etc. Theinformation from the GPS and/or GSM system, LORAN system, Bluetooth®technology and/or other wireless technology, and/or a programmedmap/information can be used to prevent damage to the robotic golf caddy,prevent the robotic golf caddy from being stuck in a hazard on the golfcourse, navigate obstacles in the golf course, prevent the robotic golfcaddy from moving into an unauthorized or undesired region on the golfcourse, etc., as the robotic golf caddy moves on and off the golfcourse. The GPS and/or GSM system, LORAN system, Bluetooth® technologyand/or other wireless technology, and/or a programmed map/information ofthe golf course (when used) can also or alternatively provide otherinformation to the golfer, such as, but not limited to, a map of thegolf course, a map of a particular hole, the distance to the green, thedistance to the hole, recommended club based on position of the roboticgolf caddy, recommended location to hit the golf ball on the coursebased on position of the robotic golf caddy, recommended strategies fora golf hole, topography of the golf course, topography of a particulargolf hole, location of hazards on golf course, location of restrooms,location of cart paths, directions to next hole, location of club house,location of snack bar, location of robotic golf caddy return, parinformation for a particular golf hole, information about the difficultyof golf course and/or golf hole, history of golf course and/or golfhole, date, time, USGA™ rules, score card, course sponsors, golf wagermanagement, warning information about playing too slow on course,provide golfer information about current weather conditions at location,provide golfer warning or weather updates about current or futureweather in area, shooting order based on distance from the green orhole, recommendation as to where to hit the ball on the golf course,wind speed, wind direction, contest information, scores of golfers, etc.The information from the GPS and/or GSM system, LORAN system, Bluetooth®technology and/or other wireless technology, and/or a programmedmap/information of the golf course can also be used to track the roboticgolf caddy on the golf course, inhibit or prevent theft of the roboticgolf caddy, locate golfers on the golf course, provide aminute-by-minute or some other time interval record of where the roboticgolf caddy has been during a certain time period, determine usage of therobotic caddy (e.g., time of use, use of 9 or 18 holes, etc.), alertgolfer that area is out of bounds or in an unauthorized area, tracksbattery usage, alerts golfer or a command location of a low batteryand/or possible error or fault in the robotic golf caddy, allowgeofences to be transmitted or programmed to robotic golf caddy to limitthe movement and/or the locations that the robotic golf caddy can moveor enter, provide pace of play alerts to the golfer, alert golfers thatthe robotic golf caddy is going too fast, etc. The robotic golf caddycan optionally include an SOS button that can be used by the golfer tosend location information to a central location or club house toindicate that the golfer needs assistance. The information from the GPSand/or GSM system, LORAN system, Bluetooth® technology and/or otherwireless technology, and/or a programmed map/information of the golfcourse can be displayed on one or more of the displays on the roboticgolf caddy, transmitted to a smart device (e.g., smart phone, tablet)being used by the golfer, and/or viewed real time, near-real time or atsome later time at a remote location (e.g., data center, remotecomputer, etc.); however, this is not required. The technology on therobotic golf caddy can be used to contact, send warnings and/orcommunicate with the golfer that is using the robotic golf caddy. If therobotic golf caddy has a malfunction, gets stuck or trapped in alocation on the golf course, does not move for extended periods of timedue to a failure or fault on the robotic golf caddy and/or the golfer isinjured or has a condition that prevents the golfer from moving, awarning signal and/or location signal can be sent to a remote locationand/or transmitted and/or communicated to the golfer. As can beappreciated, information from the GPS and/or GSM system, LORAN system,Bluetooth® technology and/or other wireless technology, and/or aprogrammed map/information of the golf course of the robotic golf caddycan be transmitted to a smart device (when used) to be displayed on thesmart device; however, this is not required. The information from theGPS and/or GSM system, LORAN system, Bluetooth® technology and/or otherwireless technology, and/or a programmed map/information of the golfcourse can be stored in memory on the robotic golf caddy for laterviewing and/or downloading and/or can be transmitted real time,near-real time or at designated time intervals to a remote storagefacility.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can include a wireless (e.g.,Bluetooth®, WiFi, etc.) and/or wired connection (e.g., USB cable,FireWire™, HOMI cable, etc.) that can be used to connect to a smartdevice (e.g., smart phone, IPad™, tablet computer, note pad, laptop,etc.); however, this is not required. The information to and from thesmart device can be used to provide a variety of information to theprocessor unit to enable the processor unit to properly control therobotic golf caddy and/or provide information to the golfer. Suchinformation can include, but is not limited to, the speed of the roboticgolf caddy, topography of the golf course, barriers on the golf course(e.g., trees, bushes, lakes, rivers, sand traps, out of bounds lines,rocky regions, cliffs, steep slopes, gardens, steps, bridges, etc.),location of the robotic golf caddy on the golf course, etc. Theinformation from the smart device can be used to prevent damage to therobotic golf caddy, prevent the robotic golf caddy from being stuck in ahazard on the golf course, navigate obstacles in the golf course,prevent the robotic golf caddy from moving into an unauthorized orundesired region on the golf course, etc. as the robotic golf caddymoves on the golf course. The information from the smart device can alsoor alternatively provide other information to the golfer, such as, butnot limited to, a map of the golf course, a map of a particular hole,the distance to the green, the distance to the hole, recommended clubbased on position of the robotic golf caddy, recommended location to hita golf ball on a course based on position of the robotic golf caddy,recommended strategies for a golf hole, topography of the golf course,topography of a particular golf hole, location of hazards on golfcourse, location of restrooms, location of cart paths, directions tonext hole, location of club house, location of robotic golf caddyreturn, par information for a particular golf hole, information aboutthe difficulty of golf course and/or golf hole, history of golf courseand/or golf hole, date, time, USGA™ rules, score card, course sponsors,golf wager management, warning information about playing too slow oncourse, provide information to a golfer about current weather conditionsat location, provide warnings or updates to golfer about current orfuture weather in area, shooting order based on distance from the greenor hole, recommendation as to where to hit the ball on the golf course,wind speed, wind direction, contest information, scores of golfers, etc.The information from the smart device can also or alternatively provideother information to the golfer, such as, but not limited to, a detailedhistory of where each robotic golf caddy has been, the number and typeof golf courses (e.g., number of 9-hole golf courses, number of 18-holegolf courses, etc.) the robotic golf caddy has completed, etc. Theinformation from the smart device can also or alternatively provideinformation to the golfer, such as, but not limited to, memberinformation, golfer information, member account information, billinginformation, distance the golfer walked, number of calories the golferburned, fees on the golfer's account, maintenance required, diagnosticinformation, etc. The information from the smart device can be displayedon the smart device and/or on one or more of the displays on the roboticgolf caddy; however, this is not required. As can be appreciated,information from the robotic golf caddy can be transmitted to the smartdevice to be displayed on the smart device; however, this is notrequired. The smart device can optionally be used to run a diagnostic ofthe robotic golf caddy, refresh and/or update information stored in therobotic golf caddy, download information from the robotic caddy into thesmart device, and/or download software and/or information (e.g., mapinformation, golf course information, golf information, etc.) from thesmart device to the robotic golf caddy.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can include one or more displays. Theone or more displays can be touch screen displays; however, this is notrequired. In one non-limiting configuration, the robotic golf caddyincludes an interactive display mounted to the robotic golf caddy and isin communication with the processor unit; however, this is not required.The display can be disconnected from the body of the robotic golf caddy;however, this is not required. The one or more displays can have avariety of functions including, but not limited to, displayinginformation to the user of the robotic golf caddy, providinginstructional information to the user of the robotic golf caddy,providing diagnostics/status information (e.g., battery low, batteryfully charged, sensors working, sensor malfunction, software error,software version, motor status, run time, etc.), providing connectionstatus with smart device, providing connection status with a GPS systemor other navigational system or map system, enabling the user to powerup and power down the robotic golf caddy, displaying other information(e.g., a map of the golf course, a map of a particular hole, thedistance to the green, the distance to the hole, recommended club basedon position of the robotic golf caddy, recommended location to hit golfball on course based on position of the robotic golf caddy, recommendedstrategies for a golf hole, topography of the golf course, topography ofa particular golf hole, location of hazards on golf course, location ofrestrooms, location of cart paths, directions to next hole, location ofclub house, location of robotic golf caddy return, par information for aparticular golf hole, information about the difficulty of golf courseand/or golf hole, history of golf course and/or golf hole, date, time,USGA™ rules, score card, course sponsors, golf wager management, warninginformation about playing too slow on course, provide warnings or updateinformation to golfer about current weather conditions at location,provide golfer warning or weather updates to golfer about current orfuture weather in area, shooting order based on distance from the greenor hole, recommendation as to where to hit the ball on the golf course,wind speed, wind direction, contest information, scores of golfers,etc.). As can be appreciated, such information can also or alternativelybe transmitted and/or displayed on a smart device when connected to therobotic golf caddy; however, this is not required. The display can alsoallow input of information (e.g., golf scores, player names, credit cardor other type of payment information, player handicap, time playstarted, robotic golf caddy preference settings (e.g., speed of roboticgolf caddy, distance robotic golf caddy remains behind golfer, etc.),time play ended, reservation of future tee times, ordering food or drinkfrom club house, ordering food or drink to be delivered to golfer ongolf course, communication with the club house or other areas on thegolf course, ordering golf supplies at club house, requesting golfsupplies to be delivered to golfer on golf course, etc.). As can beappreciated, information input to the display can be transmitted to aremote location (e.g., club house to keep track of scores, etc.), storedin the memory of the robotic golf caddy or some other storage facility(e.g., the cloud, etc.), and/or to a smart device of a golfer or someother person. As can be appreciated, some or all of the informationregarding the golfer can be later retrievable such as when the golferlater plays another round of golf uses the same or uses a differentrobotic golf caddy. Such retrievable information can be loaded into thememory of the robotic golf caddy and/or be accessible by the golfer viaa smart device, etc.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can include an information storagesystem and/or memory unit capable of recording the operational time ofthe robotic golf caddy and/or the status of the robotic golf caddy.Additional information can include, but is not limited to, diagnosticinformation, maintenance required information, etc. Generally, all usageinformation of the robotic golf caddy (including any and all informationand/or signals received, processed and/or sent by the processor unit)can be recorded and/or stored in the memory unit; however, this is notrequired. The memory unit can include a wireless (e.g., Bluetooth®,WiFi, etc.) and/or wired connection (e.g., USB cable, FireWire™, HDMIcable, etc.) that can be used to connect a smart device (e.g., smartphone, iPad™, tablet computer, note pad, laptop, etc.), and/or betransmitted to a remote computer, server or to cloud storage such thatthe information recorded in the memory unit can be accessed by thegolfer and/or some other user (e.g., golf course employee, manufacturerrepresentative, owner or leaser of the robotic golf caddy, etc.).

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can optionally include a manualoperation system capable of initiating a manual operation mode whereinthe robotic golf caddy does not respond to signals from the remotetransmitter, and wherein an automatic braking system of the robotic golfcaddy is disengaged. In the manual operation mode (when used), therobotic golf caddy can be pushed or pulled by a golfer or alternativelytowed by another vehicle (e.g., a golf cart, another robotic golf caddy,etc.).

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can optionally include an overridesystem where power supplied to the wheels increases up to apredetermined level. When the predetermined level is reached orexceeded, the motor is stopped so as to prevent the motor from burningout over time during excessive power output. The override system (whenused) is generally activated when the robotic golf caddy moves up a verysteep slope, when there is too much weight on the robotic golf caddy,motor fault, and/or when one or more wheels lose traction on the golfcourse; however, it can be activated for some other reason.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy is designed to transport a full golfbag and all the usual golfing accessories (e.g., golf tees, towels,score cards, divot repair material, ball marker, grass repair mix, etc.)while following the golfer with the remote transmitter on the golfcourse. As can be appreciated, the robotic golf caddy can be designed tocarry more than one golf bag; however, this is not required. In onenon-limiting arrangement, the robotic golf caddy is designed to hold afull golf bag on top of the robotic golf caddy. In another and/oralternative non-limiting arrangement, the golf bag is held by therobotic golf caddy at an angle such that the base of the golf bag ispositioned at or near the back wheels, and the top, open end of the golfbag is positioned at or near the front wheel; however, this is notrequired. In yet another and/or alternative non-limiting arrangement,the robotic golf caddy includes at least one strap designed toreleasably secure the golf bag in position on the robotic golf caddy;however, this is not required. The robotic golf caddy can include acavity that is configured to receive the bottom portion of one or moregolf bags. The cavity can be located at the rear portion of the body ofthe robotic golf caddy; however, this is not required.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can be controlled by the one or moreremote transmitters. When a remote transmitter that is associated withthe robotic golf caddy moves away from the robotic golf caddy, theelectronics system of the robotic golf caddy determines the directionand rate at which the remote transmitter is moving and will control thedrive mechanism to the wheels and the one or more motor drives such thatthe robotic golf caddy will follow the remote transmitter at a rate anddirection that is similar to or equivalent to the remote transmitter'smovement. The control system, such as, for example, the processor unit,will ensure that a predetermined distance will be maintained between therobotic golf caddy and the remote transmitter. This mode of operationwill optionally work in conjunction with the collision avoidancearrangement, and optionally with a GPS, LORAN system, smart device,and/or preprogrammed maps. As such, if a golfer having the remotetransmitter walks through an area that is unsafe or not accessible orpermitted for the robotic golf caddy, that robotic golf caddy can remainin position until the golfer moves into a certain range and walks in apermitted and/or safe path for the robotic golf caddy to follow, and/orthe robotic golf caddy can determine and then move along a safe and/orpermitted path to the golfer. The programming in the robotic golf caddycan be configured to take into account the orientation of the roboticgolf caddy relative to the golfer. For example, the robotic golf caddyis about 2-4 feet shorter than the average height of a golfer (e.g.,5′10″). As such, as the distance between the robotic golf caddy and thegolfer varies, the angle of transition between the robotic golf caddyand the golfer constantly changes. The programming in the remotetransmitter and/or robotic golf caddy is generally adapted to accountfor these distance changes so as to ensure that robotic golf caddymaintains a desired distance from the golfer. Generally, the remotetransmitter is capable of operating at about 500 MHz to 7 GHz; however,other frequencies can be used. When multiple robotic golf caddies areused on the same golf course, each of the frequencies of the remotetransmitter are generally different so that mutually exclusive channelsfor the remote transmitter can be used for a different robotic golfcaddy. The remote transmitter can include at least one button and/orswitch operable by the golfer which can allow the golfer to connect tothe robotic golf caddy; however, this is not required. The remotetransmitter can be rechargeable; however, this is not required.

In operation, the robotic golf caddy can follow a remote transmitter ata defined distance and can sense an impending collision with an objectin its path, and can stop prior to said collision by steps including:(1) programming a predetermined map of the golf course in a memory ofthe robotic golf caddy, (2) programming a set of movement limitationsand/or rules for the robotic golf caddy in the memory of the roboticgolf caddy, (3) continuously determining a position of the remotetransmitter relative to the robotic golf caddy as a golfer moves on thegolf course, (4) continuously determining a position of the robotic golfcaddy on the golf course via a plurality of sensors, (5) overlaying thedetermined positions of the robotic golf caddy on the programmed map ofthe golf course, (6) continuously determining a position of potentialimpending objects on the golf course near the robotic golf caddy via aplurality of sensors, (7) overlaying the determined position of thepotential impending objects on the golf course on the programmed map ofthe golf course, and/or (8) moving the robotic golf caddy on the golfcourse in accordance with the programmed set of movement limitationsand/or rules stored in the memory of the robotic golf caddy, thedetermined position of the remote transmitter relative to the roboticgolf caddy, the determined position of the robotic golf caddy on thegolf course, and/or the determined position of potential impendingobjects on the golf course. This information can be used to cause therobotic golf caddy to stop before colliding with an object and/or tocause the robotic golf caddy to navigate around and object.

In another and/or alternative non-limiting aspect of the presentinvention, the robotic golf caddy can be designed to replace and/orsupplement a traditional golf caddy. Generally, the robotic golf caddyof the present invention can be rented out to golfers at a golf coursesuch that multiple golfers can use separate robotic golf caddies;however, this is not required. As can be appreciated, more than onegolfer can use the same robotic golf caddy. Before the robotic golfcaddy is used, the robotic golf caddy is usually kept at or near a clubhouse at a golf course where it can be charged, cleaned, refurbished,and/or otherwise maintained. In one non-limiting arrangement, eachrobotic golf caddy includes a remote transmitter connected thereto, suchas, for example, by a clip, such that when the golfer desires to use therobotic golf caddy, the golfer need only remove the remote transmitterfrom the robotic golf caddy and place the remote transmitter on his orher belt. In such an arrangement, to prevent theft of the robotic golfcaddy, each robotic golf caddy can be operatively controlled (e.g.,“ON”, “OFF”, “STANDBY”, etc.) by a golf course employee at the golfcourse, such as, for example, the club house attendant. In anotherand/or alternative non-limiting arrangement, when the robotic golf caddyis plugged into the charging station, the robotic golf caddy can bedesigned to be inoperable (i.e., non-responsive to the remotetransmitter). As such, the robotic golf caddy must typically beunplugged from the charging station such that the robotic golf caddy canbe permitted to leave the charging station; however, this is notrequired. Once the golf bag has been placed on the robotic golf caddy, aconnection arrangement (e.g., strap, buckle, etc.) can be used to securethe golf bag in position on the robotic golf caddy; however, this is notrequired.

After the golfer has loaded a golf bag and/or golf accessories onto therobotic golf caddy, the golfer can optionally connect his or her smartdevice to the robotic golf caddy such that during golf play, statistics,diagnostics, and other types of information (as described above) can bepresented to the golfer. The golfer can then activate the remotetransmitter (e.g., move a switch on the remote transmitter to an “ON”position, press an activation button, etc.) such that the robotic golfcaddy connects to the remote transmitter and becomes responsive to theremote transmitter. As such, as the golfer begins to walk towards a golftee or to some other location, the robotic golf caddy follows the remotetransmitter (and therefore the golfer) at a predetermined distance.

As the golfer approaches a golf tee, the golfer can deactivate theremote transmitter (e.g., move the switch on the remote transmitter toan “OFF” position, press a pause button, etc.) such that the roboticgolf caddy stops and becomes unresponsive to the remote transmitter. Assuch, the golfer can move in the direction of the robotic golf caddy soas to select a golf club, pick up a golf accessory, view informationpresented on a smart device, etc., and enter the tee area without therobotic golf caddy following the golfer and/or causing a distraction tothe golfer or other golfers on the golf course. As can be appreciated,the robotic golf caddy can include voice recognition software andhardware to enable the robotic golf caddy to receive voice commands thatenables the golfer to instruct the golf caddy regarding the movement ofthe robotic caddy (e.g., stop, pause, activate, deactivate, move,increase/reduce speed, increase/reduce distance behind golfer, instructrobotic caddy to move to a different location, etc. instead of having toactivate and deactivate the remote transmitter). As can be appreciated,the voice commands can be used for additional reasons (e.g., requestinformation about the golf hole, request yardage information, requestinformation on the calories burned and/or distance walked, order food,send a message to a third party, request a review of golfer score, enterscore for a hole, request golf club selection advice or other golf tips,instruct robotic golf caddy to return to base or move to particular golfhole, play music, increase/decrease volume, request information on howto use the robotic golf caddy, access a user tutorial for the golf caddyand/or features of the robotic golf caddy, etc.). As can be appreciated,other or additional operations and/or functions of the robotic caddy canbe accessed and/or controlled by voice commands. The robotic golf caddycan be configured to provide the information to the golfer via textand/or by digital sound. As such, after the golfer requests informationand/or provides a voice command to the robotic golf caddy, the roboticgolf caddy can respond by providing text information, audio information,and/or graphic information on the one or more displays on the roboticgolf caddy and/or to another smart device. For example, the golf couldask for a golf tutorial or a tutorial on how to use the robotic golfcaddy to be displayed.

In one non-limiting arrangement, the golf course can include adesignated location at or near each tee on the golf course wherein whenthe robotic golf caddy enters the designated location (as optionallydetermined by the GPS system or other type of location system), therobotic golf caddy is caused to stop movement; however, this is notrequired. Alternatively, the remote transmitter can always be left onand the robotic golf caddy can be programmed to allow a golfer toapproach the robotic golf caddy when the robotic golf caddy senses thatthe golfer is approaching the robotic golf caddy. In such anarrangement, the robotic golf caddy can be programmed such that when thegolfer is within a certain distance of the robotic golf caddy, therobotic golf caddy will remain stationary; however, this is notrequired.

After hitting a golf ball off the first tee, the golfer can approach therobotic golf caddy so as to replace the golf club back in the golf bag,put back a golf accessory, view information presented on a smart device,etc. As such, the robotic golf caddy does not move away from the golferas the golfer approaches the robotic golf caddy. After the golferreplaces the golf club back in the golf bag, puts back a golf accessoryonto the robotic golf caddy, views information on the smart device,etc., the golfer can activate the transmitter (e.g., move the switch onthe remote transmitter back to an “ON” position) and/or instruct therobotic caddy by voice command to move or to become responsive to theremote transmitter, or the robotic golf caddy can automatically becomeresponsive to the remote transmitter when the robotic golf caddy sensesthat the golfer is moving away from the robotic golf cart.

As the golfer walks down the fairway toward the golf ball, the pluralityof sensors and programmed information supplied to the processor unit ofthe robotic golf caddy are used by the robotic golf caddy to cause therobotic golf caddy to follow the golfer down the fairway at apredetermined distance. Generally, one or more components of the roboticgolf caddy are designed to continuously track the remote transmitter soas to continuously calculate and/or determine the shortest possibledistance to follow the golfer; however, this is not required. In anotherand/or alternative non-limiting arrangement, the remote transmitterand/or robotic golf caddy can include an adjustment system (verbalcommand, programmable command, manually adjusted command, etc.) capableof adjusting the distance with which the robotic golf caddy follows thegolfer on the golf course. As such, if the golfer desires that therobotic golf caddy to follow at a closer and/or further distance, thedistance can be easily and conveniently adjusted without the need tohave an attendant at the club house do so; however, this is notrequired.

When the golfer slows his/her walking pace, such as, for example, whenthe golfer approaches the golf ball, the robotic golf caddy will alsoslow its pace so as to maintain a proper, predetermined distance behindthe golfer. As such, when the golfer approaches the golf ball and stopsat or near the golf ball, the robotic golf caddy is programmed to stopat a predetermined distance from the golfer, such as, for example, thedistance with which the robotic golf caddy follows the golfer whilemoving; however, this is not required. Such predetermined distance forfollowing and/or stopping is generally about 2-50 feet (and all valuesand ranges therebetween), and typically about 3-20 feet. As the golferapproaches the robotic golf caddy on the golf course, the display on therobotic golf caddy can provide information to the golfer. Theinformation displayed to the golfer can include, but is not limited to,a map of the golf course, distance to the hole, location of hazards orobstacles on the golf course, topography of the golf course, features onthe golf course, suggested club use, etc. As can be appreciated, otheror alternative types of information can be presented to the golfer, suchas, for example, golfing tips relative to the location of the roboticgolf caddy and/or golfer on the golf course.

If the golfer hits the golf ball into a restricted zone in which therobotic golf caddy is not permitted to enter as per movement limitationsand/or rules optionally programmed in the robotic golf caddy, such as,for example, a hazard area (e.g., sand trap, etc.), the robotic golfcaddy can be designed to stop outside the restricted zone; however, thisis not required. In one non-limiting arrangement, movement of therobotic golf caddy stops at or near the edge of the restricted zone evenwhen the remote transmitter is still in an “ON” position; however, thisis not required. As such, when the golfer (and therefore the remotetransmitter) leaves the restricted area, the robotic golf caddy isprogrammed to move towards the golfer without entering the restrictedzone. If the golfer enters the restricted area from a position next tothe robotic golf caddy but leaves the restricted area at a positionspaced apart from the robotic golf caddy such as, for example, on theopposite side of a sand trap, the robotic golf caddy can be programmedto determine when the golfer leaves the restricted area and calculatethe shortest possible route to approach the golfer without entering therestricted area; however, this is not required. When the robotic golfcaddy approaches a restricted or unpermitted area and/or stops beforeentering the restricted or unpermitted area, the robotic golf caddy canemit a warning or notice signal to the golfer, display a warning ornotice on one or more of the displays, and/or transmit a warning ornotice to the golfer (e.g., on a smart device, remote transmitter on thegolfer, etc.); however, this is not required.

When the golfer hits the golf ball onto the green and the golfer walkstowards the green, the plurality of sensors, location information and/orprogrammed information supplied to the processor unit of the roboticgolf caddy can command the robotic golf caddy to follow the golfer tothe green at a predetermined distance; however, this is not required.Generally, one or more components of the robotic golf caddy are designedto continuously track the remote transmitter so as to continuouslycalculate and/or determine the shortest possible distance to follow thegolfer; however, this is not required.

Most golf courses do not permit golf carts on putting greens. As such,the putting green can be programmed as a restricted zone on select golfcourses; however, this is not required. When it is determined by therobotic golf caddy that the robotic golf caddy has approached a cartlimit for a particular green, the robotic golf caddy can be programmedto stop at such location; however, this is not required. As such, whenthe golfer moves around on the putting green such as, for example,examining the putting green for slopes, divots, etc., the robotic golfcaddy does not continuously try to move as close as possible to thegolfer on the putting green. Thus, the robotic golf caddy does not posea distraction to the golfer, other golfers, or spectators as the golfermoves on the putting green. Similarly, as the golfer approaches therobotic golf caddy at or near the edge of the putting green so as toselect a golf club or pick up a golf accessory, the robotic golf caddycan also provide useful information to the golfer relative to thecurrent golf hole; however, this is not required. When it is determinedby the robotic golf caddy that the golfer has left the putting green,the robotic golf caddy can be programmed to move towards the golferwithout entering the putting green or restricted area about the puttinggreen.

This sequence of events by the robotic golf caddy is repeated for eachhole on the golf course played by the golfer.

The robotic golf caddy can have one or more of the following features:

-   -   Ultra-wide band sensor system for steering and/or collision        avoidance;    -   LORAN sensor system for steering and/or collision avoidance;    -   RF-based sensor system for steering and/or collision avoidance;    -   Ultrasonic sensor system for steering and/or collision        avoidance;    -   LIDAR technology for steering and/or collision avoidance;    -   Bluetooth® and/or WiFi connectability with smart device;    -   Bluetooth® and/or WiFi for use in steering and/or tracking;    -   GPS-based tracking device for tracking the robotic golf caddy;    -   GPS system for location information and/or yardage to a hole;    -   WiFi system for connecting to internet;    -   Mobile phone system for connecting to cell towers;    -   LORAN system for steering and/or collision avoidance;    -   Programmable maps for information about the golf course,        location information and/or yardage to a hole;    -   A plurality (e.g., 2-8) of sensor antennas for use in the        steering system and/or the collision avoidance arrangement;    -   A plurality of ultrasound sensors for collision avoidance;    -   One or more displays that may or may not be a touch screen        display, and which may or may not be removable from the body of        the robotic golf caddy;    -   One or more displays that provides start-up and/or shut-down        options for the robotic golf caddy;    -   Remote transmitter includes a tilt switch to cause the robotic        golf caddy to stop when a certain tilt angle is detected by the        remote transmitter (e.g., golfer falls down resulting in a tilt        angle of the remote transmitter to cause the robotic golf caddy        to stop, etc.);    -   Robotic golf caddy and/or remote transmitter includes sensors to        detect acceleration (e.g. accelerometers, etc.), angle        detectors, orientation detectors, relative vertical position        detectors, etc.;    -   Robotic golf caddy has multiple fuses for electrical safety;    -   Frame design of the robotic golf caddy allows for vertical        storage of the robotic golf caddy;    -   Remote transmitter used by golfer includes a safety brake        feature;    -   Software and/or processor unit enables accelerated        braking/slowing speed of robotic golf caddy;    -   The processor unit is programmable for one or more features of        the robotic golf caddy (e.g., acceleration, braking speed, top        speed, turning speed, collision sensor distance, start window,        hill climbing, following distance, maximum acceptable slope,        maximum acceptable tilt, course configuration, course obstacles,        golfer handicap, golfer name, leasor name, leasee name, course        map, geofencing, etc.);    -   Improved water protection of motor, processor unit, and/or        electrical system;    -   Lithium ion power source for transmitter and/or robotic golf        caddy movement system and/or operational system;    -   Power outlet or smart devices, small electric devices, etc.;    -   Vibration protection for antennas of sensors and/or receivers;    -   Improved electronics to reduce temperature drift of antennas of        sensors;    -   Improved ultrasonic sensors for collision avoidance;    -   Personal cooler or personal cooler holder on robotic golf caddy;    -   Smart device charger or charging port;    -   USB, Ethernet and/or HDMI outlet;    -   WiFi connection capabilities to access internet;    -   Speakers (e.g., general speakers, Bluetooth® speakers to enable        connection to a smart device);    -   Microphone;    -   Radio tuner;    -   Charger for remote transmitter and/or smart device;    -   CD and/or DVD player;    -   Lights to facilitate in illumination of a certain locations of a        golf course;    -   Media interface to play music from a smart device;    -   Camera to take video and/or picture of golf swing or other        features or activities on a golf course;    -   Camera to take video and/or picture for facial recognition;    -   Provide golf tips and/or instruction to the golfer;    -   One or more seating areas for a golfer to sit;    -   Smart device interface with robotic golf caddy (e.g., golf apps        [e.g., golf wager management, golf strategy, club        recommendations, golf ball tracking/location, etc.], scoring,        handicap information, golf course guide, GPS/Google map        information, USGA rules, GPS yardage, weather, score card,        golfer use authorization, payment information and authorization,        weather updates, golf tips, etc.);    -   Quick charging of battery;    -   Solar-powered charging;    -   Shock absorbers on robotic golf caddy to reduce damage to        robotic golf caddy, reduce spillage of liquids in cup holders,        reduce damage to golf clubs or other items on the robotic golf        caddy, reduce noise during movement of the robotic golf caddy;    -   Cup/container holder in body of robotic golf caddy which may or        may not be refrigerated or heated;    -   Golf accessory holders in body of robotic golf caddy;    -   Structural protection for antennas of sensors;    -   Simple access to battery charger;    -   GPS and/or smart device mount on body of robotic golf caddy;    -   Cavity in body of the robotic golf caddy for one or more golf        bags;    -   Retaining strap for golf bag;    -   Front end connection for easy lifting and storage of robotic        golf caddy;    -   Information storage system;    -   Manual operation system;    -   Automatic braking system;    -   Override system;    -   Lateral sensors;    -   Gradient sensors;    -   Improved antenna configurations;    -   Voice recognition system for voice commands;    -   Wireless charger for smart devices (e.g., wireless charger        located on front or side portion of body of robotic golf caddy,        etc.);    -   Charging mats for wireless charging of battery in robotic golf        caddy (e.g., robotic golf caddy can be manually moved on the        charging mat or be instructed to move onto the charging mat to        charge the battery on the robotic golf caddy);    -   Food cavity in body of robotic golf caddy which may or may not        be refrigerated and/or heated;    -   Sensors to determine if a beverage container, soda bottle, etc.        is empty and/or full;    -   Feature to enable robotic caddy to automatically go to a cart        barn, go to a charging station, go to a charging mat, go a to        staging location, go to a particular golf hole or other        location;    -   Easy battery access on robotic golf caddy to facilitate in        simple and fast battery swaps; and    -   Sending and/or receiving one or more signals (e.g., using        multiple frequency, multiplexing, signal tagging, signal        stacking, etc.) to enable individual access and/or control of        multiple robotic caddies using a single signal frequency or        multiple signal frequencies.

It is accordingly one non-limiting object of the present invention toprovide a robotic golf caddy suitable for use on a golf course.

It is another and/or alternative non-limiting aspect of the presentinvention to provide an autonomous robotic golf caddy responsive to asignal from a remote transmitter.

It is yet another and/or alternative non-limiting object of the presentinvention to provide an autonomous robotic golf caddy which is capableof following a remote transmitter at a pre-determined distance.

It is still yet another and/or alternative non-limiting object of thepresent invention to provide an autonomous robotic golf caddy which iscapable of sensing an impending collision with an object in its path andstops prior to said collision.

These and other objects and advantages will become apparent from thediscussion of the distinction between the invention and the prior artand when determining the non-limiting embodiments of the invention asshown in the accompanying drawing figures.

BRIEF DESCRIPTION OF THE DRAWINGS

Reference may now be made to the drawings, which illustrate variousembodiments that the invention may take in physical form and in certainparts and arrangements of parts wherein:

FIG. 1 is a perspective view of a robotic golf caddy in accordance withone non-limiting aspect of the present invention;

FIG. 2 is a perspective view of the robotic golf caddy of FIG. 1 withthe housing removed;

FIG. 3 is a non-limiting functional block diagram illustrating theworkings and/or arrangements of the robotic golf caddy of FIGS. 1-2 ;

FIG. 4 is a perspective illustration of three robotic golf caddies beingstored;

FIG. 5 is a perspective illustration of the robotic golf caddy of FIGS.1-3 in use;

FIG. 6 is a perspective illustration of the collision avoidancearrangement of robotic golf caddy of FIGS. 1-3 in use;

FIG. 7 is an illustrative method for using the robotic golf caddy ofFIGS. 1-6 ;

FIG. 8 is another illustrative method for using the robotic golf caddyof FIGS. 1-6 .

FIG. 9 is another illustrative method for using two or more robotic golfcaddy of FIGS. 1-6 .

DETAILED DESCRIPTION OF A NON-LIMITING EMBODIMENT

Referring now to the drawings wherein the showing is for the purpose ofillustrating non-limiting embodiments of the invention only and not forthe purpose of limiting the same, FIGS. 1-8 illustrate a non-limitingembodiment of a robotic golf caddy 100 in accordance with the presentinvention.

The robotic golf caddy 100 is configured to be responsive to a signalfrom a remote transmitter 200 carried by a golfer 102 as the golfer 102moves on a golf course 104. The robotic golf caddy 100 is capable offollowing the remote transmitter 200 at a pre-determined distance.Additionally, the robotic golf caddy 100 is capable of sensing apotential impending collision with an object in its path of movement andis adapted to stop and/or re-route its path of movement prior to thecollision. As such, the robotic golf caddy includes a golfer trackingarrangement (e.g., remote transmitter 200 and tracker receiver in therobotic golf caddy) and a collision avoidance arrangement. The golfertracking arrangement is configured to ensure that the robotic golf caddyfollows a golfer as the golfer walks and plays golf on the golf course.The golfer tracking arrangement can be configured to ensure that therobotic golf caddy maintains a predetermined distance between therobotic golf caddy and the golfer (e.g., 1-100 ft. and all values andranges therebetween). Also, golfer tracking arrangement can beconfigured to ensure that the robotic golf caddy begins moving towardthe golfer after a predetermined minimum distance between the roboticgolf caddy and the golfer is detected to have been exceeded. Forexample, if the maximum distance preset for the robotic golf caddy is 60ft. and the predetermined minimum distance is 5 ft., if the golfer movesmore than 5 ft. from the robotic golf caddy, the processor unit in therobotic golf caddy will detect that the predetermined minimum distancebetween the robotic golf caddy and the golfer is exceeded and theprocessor unit will cause the robotic caddy to move toward to thegolfer. Once the robotic golf caddy has moved at or within 5 ft. of thegolfer, the processor unit in the robotic golf caddy will detect thatthe predetermined minimum distance between the robotic golf caddy andthe golfer is not exceeded and the processor unit will cause the roboticgolf caddy to stop movement. If the golfer moves more than 60 ft. fromthe robotic golf caddy, the processor unit in the robotic golf caddywill detect that the distance between the robotic golf caddy and thegolfer has exceeded the predetermined maximum distance between therobotic golf caddy and the golfer and the processor unit will cause therobotic golf caddy to stop movement. When this event occurs, the golferwill need to walk toward the robotic golf caddy so that the distance isless than the 60 ft. The golfer may be required to reestablishcommunication between the remote transmitter 200 and the robotic golfcaddy if the predetermined maximum distance between the robotic golfcaddy and the golfer is exceeded and/or if communication is lost betweenthe remote transmitter 200 and the robotic golf caddy. As can beappreciated, other predetermined maximum and minimum distances can beused. As also can be appreciated, the remote transmitter 200 and/or therobotic golf caddy can generate an audible and/or tactile alarm when thepredetermined maximum distance between the robotic golf caddy and thegolfer is exceeded and/or if communication is lost between the remotetransmitter 200 and the robotic golf caddy; however, this is notrequired.

The robotic golf caddy can include one or more safety features. Suchsafety features include, but are not limited to, 1) the robotic golfcaddy can be configured to stop and/or turn off when a preset maximumdistance between the remote transmitter and robotic golf caddy isexceeded. Such distance is generally 2-25 ft. (and all values and rangestherebetween), and typically 6-15 ft., and more typically 9-12 ft. Thispreset maximum distance can be designed to be changeable by the golferand/or authorized personnel; however, this is not required; 2) therobotic golf caddy can be configured to include a parking brake toinhibit or prevent unintentional movement of the robotic golf caddy. Thepacking brake can be automatically or manually engaged when the roboticgolf caddy has stopped, the robotic golf caddy has disconnected from thetransmitter on the golfer, the robotic golf caddy has shut down, etc.;3) the robotic golf caddy can be configured to include dynamic braking.Dynamic braking can not only be used to facilitate in the braking of therobotic golf caddy, but can also be used to recharge the battery on therobotic golf caddy; however, this is not required, 4) the robotic golfcaddy can be configured to stop or turn off if it passes the golfer thathas the remote transmitter, 5) the robotic golf caddy can be configuredto stop or turn off if it gets too close to the golfer that has theremote transmitter (e.g., 0.5-6 ft. and all values and rangestherebetween). This minimum distance can optionally be changeable by thegolfer and/or authorized personnel; 6) the robotic golf caddy can beconfigured to stop or turn off if it exceeds a predefined maximum speed.This predefined maximum speed can optionally be changeable by the golferand/or authorized personnel; 7) the robotic golf caddy can be configuredto stop or turn off if the battery power is below a predefined level; 8)the robotic golf caddy can be configured to stop or turn off if one ormore sensors is malfunctioning; 9) the robotic golf caddy can beconfigured to stop or turn off if the motor is overheating and/ormalfunctioning; 10) the robotic golf caddy can be configured to stop orturn off if one or more of the electronic components of the robotic golfcaddy is malfunctioning, 11) the robotic golf caddy can be configured tostop or turn off if a signal is lost with the remote transmitter; 12)the robotic golf caddy can be configured to stop or turn off if therehas been no detected movement of the remote transmitter for a predefinedperiod of time; 13) the robotic golf caddy can be configured to includecircuit fuses for the motor and/or other electronic components of therobotic golf caddy; 14) the robotic golf caddy can be configured toinclude a safety stop feature if the robotic golf caddy senses that itis going too fast based on a distance between the golfer and the roboticgolf caddy; and/or 15) the robotic golf caddy can be configured todetermine the tilt angle of the golfer using the transmitter and/or thetilt angle of the robotic golf caddy to stop the robotic golf or changethe direction of the robotic golf caddy to prevent flipping, becomingstuck or immobile, or otherwise damaging the robotic golf caddy.

The robotic golf caddy 100 is illustrated as including a housing 112releasably mounted to a vehicle frame 110. The housing 112 is configuredto at least partially enclose the workings of the robotic golf caddy 100including the vehicle frame 110, a processor unit 130, at least aportion of a drive mechanism 140, a receiver 120, and/or a collisionavoidance arrangement 150. Generally, the housing 112 is designed toreleasably secure various golf items and/or golf accessories as wouldtypically be carried by a golf caddy. As such, the top portion ofhousing 112 is configured to includes a golf bag cavity 117 that isdesigned to receive at least a bottom portion of a golf bag so that thegolf bag 114 containing golf clubs 113 can be releasably secured to thehousing. The cavity can also be designed to receive one or more golfaccessories (e.g., umbrella, towel, etc.). Strap 115 is provided tosecure the golf bag 114 in golf bag cavity 117. As can be appreciated,the golf bag cavity can be configured to hold more than one golf bag;however, this is not required. As illustrated in FIG. 1 , the base ofthe golf bag cavity can be angled such that the golf bag tilts forwardly(5-30°) when secured in the golf bag cavity; however, this is notrequired.

The robotic golf caddy 100 is also illustrated as including otherfeatures including a personal cooler 220 and/or cavity for a personalcooler (e.g., cavity is configured to receive at least the base portionof a personal cooler, etc.), a cup holder 222 capable of holding a cupand/or bottle 223, an accessory holder 224 capable of holding a golfaccessory such as, for example, a towel, golf balls, golf divot tool,ball marker, golf tees, golf gloves, etc. and/or personal items (e.g.,keys, money, wallet, purse, glasses, glass case, watch, rings, jewelry,etc.), a charging station/data connector 226 capable of charging one ormore smart devices (e.g., smart phone, iPad™, tablet computer, note pad,laptop, golf range finder, etc.), and/or for transmitting data between asmart device and the robotic golf caddy, a supplemental accessory holder228 capable of holding a divot/seed repair kit 229, and a front cavity227 for holding an item (e.g., personal items, smart phone, golfaccessories, etc.). As can be appreciated, the robotic golf caddy caninclude more than one personal cooler 220 and/or cavity for a personalcooler, cup holder, accessory holder, charging station/data connector,supplemental accessory holder, and/or front cavity. Although not shown,the robotic golf caddy 100 can be configured to releasably secure ortemporarily hold other or alternative golf accessories or personal itemsas would typically be used by a golfer. Also, the robotic golf caddy caninclude one or more lights (not shown) to provide light to a certainregion on a ground surface and/or to facilitate in locating the roboticgolf caddy and/or to indicate proper operation and/or a malfunction ofthe robotic golf caddy; however, this is not required. As can beappreciated, the robotic golf caddy can have other or additionalfeatures (e.g., one or more USB, Ethernet and/or HDMI outlets, WiFiconnection capabilities to access internet, one or more speakers, radiotuner, CD and/or DVD player, media interface to play music from a smartdevice, camera to take video and/or picture of golf swing or otherfeatures or activities on a golf course, one or more seating areas onthe housing for a golfer, charger for remote transmitter etc.).

The robotic golf caddy 100 is illustrated as including a vehicle frame110 and a receiver 120 mounted to the vehicle frame 110. The receiver120 is adapted to receive a signal 121 from the remote transmitter 200.The receiver generally includes an antenna and is typically located atthe front or front region of the robotic golf caddy. The receiver 120 isalso illustrated as being in communication with a processor unit 130such that when the receiver 120 receives a signal from the remotetransmitter 200, the receiver 120 can send information to the processorunit 130 of robotic golf caddy 100. As such, the processor unit 130 canbe programmed to process input received in the form of a signal from thereceiver 120 to determine a position of the remote transmitter 200relative to the robotic golf caddy 100. Thus, the input received fromthe receiver 120 is adapted to cause the robotic golf caddy 100 to moverelative to the remote transmitter 200 in accordance with programming ofthe processor unit 130.

The robotic golf caddy 100 is also illustrated as including a drivemechanism 140 mounted to the vehicle frame 110 and in communication withthe processor unit 130. The drive mechanism 140 is configured to movethe robotic golf caddy 100 in response to a signal received from theprocessor unit 130. The drive mechanism further includes a pair of drivewheels 142, 143 and one steering wheel 144. The drive wheels aregenerally wider and have a larger diameter than the steering wheel;however, this is not required. As best illustrated in FIG. 2 , the drivemechanism further includes a pair of motors 146, 147 (e.g., electricmotors) that are configured to drive the rotation of drive wheels 142,143, respectively; however, one motor can be used to drive the rotationof the pair of drive wheels 142, 143. The drive mechanism is alsoillustrated as including a power source 148 that provides energy to thepair of motors 146, 147 to provide power to the drive mechanism 140. Thepower source 148 can be an electric power source (e.g., battery, etc.)or other or alternative known power sources; however, this is notrequired. The power source 148 is illustrated as being held in a powersource housing below the vehicle frame 110 of robotic golf caddy 100;however, this is not required.

The robotic golf caddy 100 is also illustrated as including a collisionavoidance arrangement 150 in communication with the processor unit 130.The collision avoidance arrangement 150 comprises a plurality of sensorsillustrated as sensors 152, 154, 156, 232, 234 that are spaced apartfrom one another about the robotic golf caddy 100. Sensors 152, 154,156, 232, 234 are configured to detect potential impending objectsaround the robotic golf caddy 100. The sensors can be the same ordifferent type of sensor. In one non-limiting arrangement, sensors 152,154, 156 use narrowband technology such as ultrasound or LIDAR sensors,and sensors 232, 234 use wide band bandwidth such as ultra-wide bandsensor. These two types of sensors work in conjunction with one anotherto obtain range information related to one or more objects within afield of coverage of the sensors; however, this is not required. Theplurality of sensors on the robotic golf caddy 100 can form a zone ofcoverage (not shown) having a pre-determined radius (e.g., 0.1-200 ft.and all values and ranges therebetween) around the robotic golf caddy100 such that when 1) a potential impending object is detected by theplurality of sensors, and/or 2) the potential impending object isdetermined to be in the zone of coverage formed by the plurality ofsensors, the collision avoidance arrangement is configured to send asignal to the processor unit 130, thereby causing the robotic golf caddy100 to stop or avoid the detected potential impending object. As can beappreciated, more or fewer sensors can be used.

The plurality of sensors can also or alternatively be used as part of apreventative programming system programmed into the processor unit 130of the robotic caddy 100 as software 138; however, this is not required.For example, if a boulder (not shown) is detected by the plurality ofsensors, the processor unit 130 can instruct the robotic golf caddy 100to avoid the boulder and find an alternate route and/or path around theboulder while still following the golfer 102 on the golf course 104.Similarly, if two trees (not shown) are detected by the sensors as beingseparated by a distance narrower than the width of the robotic golfcaddy 100, the processor unit 130 can instruct the robotic golf caddy100 to avoid the narrow gap between the trees and find an alternateroute and/or path so as to continue following the golfer 102 on the golfcourse 104 at a predetermined distance.

As illustrated in FIG. 2 , three narrowband technology sensors arelocated at the front region of the robotic golf caddy. It can beappreciated that the robotic golf caddy can include more than or lessthan three narrowband technology sensors. It can also be appreciatedthat the location of the narrowband technology sensors on the roboticgolf caddy is non-limiting. For example, the robotic golf caddy couldinclude at least four narrow band technology sensors that are located ateach of the four corner regions of the robotic golf caddy so as todetect objects 360° about the robotic golf caddy; however, this is notrequired. As also illustrated in FIG. 2 , two wide band bandwidthtechnology sensors are located on the sides of the robotic golf caddy.It can be appreciated that the robotic golf caddy can include more thanor less than two wide band bandwidth technology sensors. It can also beappreciated that the location of the wide band bandwidth technologysensors on the robotic golf caddy is non-limiting. For example, therobotic golf caddy could include at least three wide band bandwidthtechnology sensors that are located at each side and at the front of therobotic golf caddy; however, this is not required.

The robotic golf caddy is also illustrated as including a navigationarrangement 230 in communication with the processor unit 130 to controlmovement of the robotic golf caddy 100. The navigation arrangement 230can incorporate the Global Positioning System (GPS) system 160; however,other systems can be also or alternatively used (e.g., LORAN system, GSMsystem, etc.). The navigation arrangement 230 can be configured to beused in conjunction with the collision avoidance arrangement 150 toprovide information to the processor unit 130 to control movement of therobotic golf caddy 100. The navigation arrangement 230 can includedetailed golf course map information. For example, the navigationarrangement 230 can be used to determine yardage data of the roboticgolf caddy from a particular location such as the distance between therobotic golf caddy and the golf hole, distance between the robotic golfcaddy and the golf tee, distance between the robotic golf caddy and anobject on the golf course, etc. Data from the navigation arrangement 230can be merged and/or overlaid with a map 134 of the golf course storedin the memory 132 of the robotic golf caddy along with movementlimitation 136 instructions. When a GPS system is used, the GPS systemis configured to receive a signal 163 from a GPS satellite 162, and sendinformation to the navigation arrangement and/or processor unit 130 ofthe robotic golf caddy 100 relating to the determined position of therobotic golf caddy 100 on the golf course. GPS information can be usedin conjunction with the map information and the information from thecollision avoidance arrangement 150 to provide information to theprocessor unit 130 to control movement of the robotic golf caddy 100. Assuch, the navigation arrangement thus enables geofencing capabilitiesfor the robotic golf caddy and also can be used to provide valuableinformation to the golfer on the golf course. The navigation arrangementcan also be used to provide information about usage of the robotic golfcaddy and location information of the robotic golf caddy.

Referring now to FIGS. 2-3 , the robotic golf caddy 100 is alsoillustrated as optionally including a gradient sensor 170 incommunication with the processor unit 130 and mounted to the vehicleframe 110. The gradient sensor 170 is configured to provide informationto the processor unit 130 related to a position of the robotic golfcaddy 100 on an incline or gradient on the golf course. As such, theprocessor unit 130 can be configured to move the robotic golf caddy 100in response to a signal received from the gradient sensor 170. Thegradient sensor can be in the form of an accelerometer; however, this isnot required.

With continued reference to FIGS. 2-3 , the robotic golf caddy 100 isillustrated as also optionally including a lateral sensor 180 incommunication with the processor unit 130 and mounted to the vehicleframe 110. The lateral sensor 180 is configured to provide informationto the processor unit 130 related to a sideways tipping movement of therobotic golf caddy 100 as could, for example, occur when the roboticgolf caddy 100 is on an incline or gradient of a golf course. Theprocessor unit 130 can be configured to move the robotic golf caddy 100in response to a signal received from the lateral sensor 180. Thelateral sensor 180 and the gradient sensor 170 can optionally becombined into a single accelerometer; however, this is not required. Ascan be appreciated, an accelerometer can also or alternatively belocated in the remote transmitter 200 and signals from the accelerometerin the remote transmitter can be sent to the processor unit of therobotic golf caddy to cause the robotic golf caddy to change speedand/or direction of movement based at least partially on such signals.As can also be appreciated, if the robotic golf caddy and remotetransmitter both include an accelerometer, both of these signals can beused by the processor unit of the robotic golf caddy to cause therobotic golf caddy to change speed and/or direction of movement based atleast partially on such signals.

The robotic golf caddy is 100 is also illustrated as including aninteractive display 190 mounted to the robotic golf caddy 100. Inparticular, the interactive display 190 is mounted to the front face ofan upwardly extending portion of the housing 112 and the back side ofthe upwardly extending portion supports an upper portion of the golf bag114; however, it can be appreciated that the interactive display 190 canbe mounted in other regions of the robotic golf caddy. As also can beappreciated, interactive display 190 can be releasably mounted to therobotic golf caddy; however, this is not required. The interactivedisplay 190 is illustrated as being in communication with the processorunit 130 and is adapted to send signals thereto and receive signalstherefrom. The interactive display 190 can be an LCD and/or LED display;however, other or alternative displays may be used. Similarly, theinteractive display 190 can be a touchscreen display. The interactivedisplay 190 is configured to interact with a user of the robotic golfcaddy 100 by providing instructional information to the user of therobotic golf caddy 100, providing diagnostic and/or status informationto the user of the robotic golf caddy 100, providing connection statuswith a smart device or system in communication with the robotic golfcaddy 100, enabling a user to power up or power down the robotic golfcaddy 100, or displaying other or alternative types of information tothe user of the robotic golf caddy 100, etc. The interactive display 190can optionally be in communication with the navigation arrangementand/or processor unit such that the interactive display 190 can provideinformation to the golfer that would typically be provided by thenavigation arrangement and/or processor unit including, but not limitedto, the golf hole number, distance to the center of the green, distanceto the front of the green, distance to the back of the green, etc.;however, this is not required. The interactive display could optionallyinclude a ball location function and when activated can use the sensorson the robotic golf caddy to held locate a golf ball of the golfer. Theinteractive display 190 can be releasably mounted to the front of thehousing 112 of the robotic golf caddy 112; however, this is notrequired. As can be appreciated, a smart device located on the golfer orpositioned on the robotic golf caddy can be connected by wire orwirelessly to the navigation arrangement and/or processor unit so as toprovide information to the navigation arrangement and/or processor unit(e.g., location information, weather information, golf courseinformation, etc.). As can be appreciated, the smart device can functionas a substitute for a GPS system in the golf caddy and/or be used assource of the map information for the golf course. As can also beappreciated, the smart device can be used as a source of other oradditional information.

As best illustrated in FIG. 2 , the robotic golf caddy 100 isillustrated as including a connection arrangement comprising a plate 108and a hole and/or aperture 109. The connection arrangement can bedesigned to facilitate attachment of the robotic golf caddy 100 toanother robotic golf caddy and/or golf cart. The latch can be used tolift the robotic golf caddy into a storage position and/or to tow therobotic golf caddy.

The robotic golf caddy 100 is illustrated as including a communicationsystem 210. The communication system 210 is illustrated as including aBluetooth® system 212 and a WiFi system 214 suitable for communicationwith the golfer. As can be appreciated, the communication system caninclude other wireless technologies and/or wired technologies, such as,for example, USB cable 216, FireWire™, HDMI cable 218, etc.

The Bluetooth™ system 212 can be configured to provide “outside-in”access to the robotic golf caddy 100. For example, the Bluetooth® system212 can provide external control of the robotic golf caddy 100 to a golfcourse employee and/or manufacturing representative so as to allowviewing of information (e.g., diagnostic information, etc.) stored bythe robotic golf caddy 100. Additionally, the Bluetooth® system 212 canbe used by a golf course employee and/or manufacturing representative toaccess the robotic golf caddy 100 so as to adjust the navigationarrangement 230, run diagnostics on the robotic golf caddy 100, and/ordownload data and/or information stored on the robotic golf caddy 100.For example, robotic caddy usage data can be downloaded from the roboticgolf caddy; however, other or alternative types of data can be accessed.

The WiFi system 214 can be configured to provide “inside-out” access tothe robotic golf caddy 100. For example, the WiFi system 214 can be usedby a golfer using the robotic golf caddy 100 to access and/or downloaddata stored by the robotic golf caddy 100. Non-limiting examples (asdescribed earlier) of data stored by the robotic golf caddy 100 andaccessible by the golfer include, but are not limited to, number of golfholes completed (e.g., 9 holes of golf completed, 18 holes of golfcompleted, etc.), golfer scores (e.g., transmission of golfer's scoresinto club handicap system, etc.), golfer member information, golf memberaccount information (e.g., outstanding fees, etc.), distance the roboticgolf caddy 100 traveled, distance the golfer walked, number of caloriesburned by the golfer, maintenance information, etc.

The communication system 210 and the interactive display 190 can beconnected to a smart device 240. As such, a smart device 240 can be usedto view selected types of information stored in the memory 132 ofrobotic golf caddy 100.

With reference now to FIG. 4 , there is illustrated three robotic golfcaddies 111, 113, 115 in accordance with the present invention in astorage position. In such a position, each robotic golf caddy 111, 113,115 can be tilted rearwardly so as to sit on a back portion thereof. Inthe storage position, as illustrated in FIG. 4 , the robotic golf caddyof the present invention provides the non-limiting advantage of savingspace when stored, for example, in a club house on a golf course.

With reference now to FIGS. 5-8 , there is provided an illustrativemethod for controlling movement of the robotic golf caddy 100 at apredetermined distance “d” behind a golfer 102 on a golf course 104. Asdescribed above, the golfer 102 can turn the robotic golf caddy 100 “ON”and “OFF” via switch 201 on remote transmitter 200; however, this is notrequired. Generally, as the golfer 102 moves in the direction indicatedby arrow “A”, the robotic golf caddy 100 is configured to move in thedirection indicated by arrow “B” and follow the golfer 102 at apredetermined distance “d”.

As best illustrated in FIG. 6 , the robotic caddy 100 is configured tosense a potential impending collision with an object, such as, forexample, a tree 101, in its path of movement illustrated here as dottedline “x”. The robotic caddy 100 can use any combination of sensors 152,154, 156, 234, 232 for the purpose of detecting the impending collisionand determining a new best path of movement. As such, the robotic golfcaddy 100 is configured to avoid the potential impending collision withtree 101 by changing and/or adjusting to a new best path of movement,illustrated here as dotted line “y” around the tree 101 via inputs fromany of sensors 152, 154, 156, 234, 232 to processor unit 130.

The illustrative method can include:

-   -   (1) providing a robotic golf caddy 100 having at least one        receiver 120 connected to a vehicle frame 110 thereof, a        processor unit 130 in communication with at least one receiver        120, a drive mechanism 140 mounted to the vehicle frame 110, the        drive mechanism operable by the processor unit 130, a navigation        arrangement in communication with the processor unit 130, and a        collision avoidance arrangement 150,    -   (2) programming the processor unit 130 of the robotic golf caddy        100 with a predetermined map 134 of the golf course 104, the        programmed map 134 of the golf course 104 highlighting at least        areas of importance on the golf course (e.g., trees, fairway,        tee box, putting green, etc.).    -   (3) receiving input signals from the positioning system 160        related to a position of a remote transmitter 200 held by the        golfer relative to the robotic golf caddy 100,    -   (4) receiving input signals from the positioning system 160        related to a position of the robotic golf caddy 100 on the golf        course relative to various objects on the golf course 104,    -   (5) receiving input signals from the collision avoidance        arrangement 150 related to a position of potential impending        objects in the path of the robotic golf caddy 100,    -   (6) processing the received input signals from the remote        transmitter 200, the positioning system 160 and the collision        avoidance arrangement 150 via the processor unit 130 of the        robotic golf caddy 100, thereby generating an output signal        providing a best path of movement for the robotic golf caddy 100        to approach and/or follow the golfer, and    -   (7) moving the robotic golf caddy 100 in response to the output        signal of the processor unit 130 with in accordance with the        movement limitations 136 stored in the memory 132 of the robotic        golf caddy 100 so as to maintain a proper, predetermined        following distance behind the golfer 102 on the golf course 104,        and to avoid a potential collision with objects in the path of        movement of the robotic golf caddy 100.

With reference now to FIG. 8 , the processing of the received inputsignals from the remote transmitter 200, the positioning system 160 andthe collision avoidance arrangement 150 via the processor unit 130 canfurther comprise the steps of:

-   -   (6)(i) processing the input signals received from the remote        transmitter 200 so as to determine a position of the remote        transmitter 200 relative to the robotic golf caddy 100,    -   (6)(ii) processing the input signals received from the        positioning system 160 so as to determine a position of the        robotic golf caddy 100 relative to various objects on the golf        course 104,    -   (6)(iii) processing the input signals received from the        collision avoidance arrangement 150 so as to determine the        relative position of the potential impending object on the golf        course 104,    -   (6)(iv) merging the determined position of the remote        transmitter 200 relative to the robotic golf caddy 100 with the        determined position of the robotic golf caddy 100 on the golf        course and the determined position of the robotic golf caddy 100        relative to the potential impending object so as to determine a        precise position of the robotic golf caddy 100 on the golf        course 104 relative to objects on the golf course 104, and    -   (6)(v) overlaying the determined precise position of the robotic        golf caddy 100 and the position of the objects on the golf        course 104 on the programmed map 134 of the golf course 104.

The robotic golf caddy 100 is capable of continuously receiving inputsignals from the remote transmitter 200, the positioning system 160 andthe collision avoidance arrangements 150, and continuously processes thecontinuously received input signals so as to continuously generate a newoutput signal providing new best paths of movement for the robotic golfcaddy 100 as the robotic golf caddy 100 moves on the golf course 104;however, this is not required.

With reference now to FIG. 9 , the controlling of two or more roboticgolf caddies is illustrated. It is not uncommon that two of robotic golfcaddies will be used by a group of golfers and/or more than one golferon a golf course is using a robotic golf caddy. In order to preventmiscommunication between a particular golfer and particular robotic golfcaddy, a certain transmitter is configured to control a particularrobotic golf caddy. As illustrated in FIG. 9 , Transmitter A is used tocontrol robotic golf caddy A and Transmitter B is used to controlrobotic golf caddy B. Transmitted A is used by golfer 1 and TransmitterB is used by golfer 2. The transmission frequency or frequency band ofthe two transmitters can be the same or different. If the transmissionfrequencies are the same, then the transmitted signals from each of thetransmitters will have some type of tag, channel stacking and/ormultiplexing so that the signals from the two transmitters can bedifferentiated from one another by the two robotic golf caddies. Therobotic golf caddies can also be configured to communicate with oneanother to ensure that there is no collision between the two roboticgolf caddies and/or the movement of the golf caddies does not interferewith one another; however, this is not required. When the robotic golfcaddies communicate with one another, information about a particulargolf caddy and other robotic golf caddies that are in communication withthe robotic golf caddy can be transmitted to a remote control locationto facilitate in the monitoring of the operation of multiple roboticgolf caddies; however, this is not required.

While considerable emphasis has been placed herein on the structures andconfigurations of the preferred embodiments of the invention, it will beappreciated that other embodiments, as well as modifications of theembodiments disclosed herein, can be made without departing from theprinciples of the invention. These and other modifications of thepreferred embodiments, as well as other embodiments of the invention,will be obvious and suggested to those skilled in the art from thedisclosure herein, whereby it is to be distinctly understood that theforegoing descriptive matter is to be interpreted merely as illustrativeof the present invention and not as a limitation thereof.

1-17. (canceled)
 18. An autonomous vehicle including: a vehicle frameand a housing connected to said vehicle frame; a drive mechanismconnected to said vehicle frame; said drive mechanism configured to movesaid autonomous vehicle; said drive mechanism including a plurality ofwheels and at least one motor; and, a collision avoidance/navigationarrangement in communication with a processor system; said collisionavoidance/navigation arrangement including a plurality of sensorsconfigured to detect one or more objects about said autonomous vehicle;said collision avoidance/navigation arrangement configured to sendinformation to said processor system so that such information causessaid autonomous vehicle to avoid collision or contact with one or moresaid detected objects; said plurality of sensors includes first andsecond sensor groups; said first sensor group includes a first primarysensor; said first primary sensor is a an ultra-wide band bandwidthsensor; said second sensor group includes a first secondary sensor; saidfirst primary sensor is positioned on one side of said vehicle frame;said first secondary sensor is positioned on a front portion of saidvehicle frame and positioned forwardly of said first primary sensor;said first secondary sensor is not an ultra-wide band bandwidth sensor.19. The autonomous vehicle as defined in claim 18, wherein said firstsensor group includes a second primary sensor.
 20. The autonomousvehicle as defined in claim 18, wherein second sensor group includes asecond secondary sensor; said second secondary sensor is not anultra-wide band bandwidth sensor.
 21. The autonomous vehicle as definedin claim 19, wherein second sensor group includes a second secondarysensor; said second secondary sensor is not an ultra-wide band bandwidthsensor.
 22. The autonomous vehicle as defined in claim 20, wherein saidsecond secondary sensor positioned forwardly of said first primarysensor.
 23. The autonomous vehicle as defined in claim 21, wherein saidsecond secondary sensor positioned forwardly of said first primarysensor.
 24. The autonomous vehicle as defined in claim 23, wherein aspacing between said first and second primary sensors is greater than aspacing between said first and second secondary sensors.
 24. Theautonomous vehicle as defined in claim 18, wherein said plurality ofsensors includes two or more sensors selected from the group consistingof ultra-wide band bandwidth sensor, camera, RF-based sensor, ultrasonicsensor, and lateral sensor.
 25. The autonomous vehicle as defined inclaim 23, wherein said plurality of sensors includes two or more sensorsselected from the group consisting of ultra-wide band bandwidth sensor,camera, RF-based sensor, ultrasonic sensor, and lateral sensor.
 26. Theautonomous vehicle as defined in claim 18, wherein said collisionavoidance/navigation arrangement further causes said autonomous vehicleto perform one or more functions selected from the group consisting ofa) avoiding collision or contact with the user during movement of saidautonomous vehicle, b) avoiding collision or contact with an objectduring movement of said autonomous vehicle, c) avoiding movement of saidautonomous vehicle to an undesired or restricted location, and/or d)moving said autonomous vehicle to a staging area, charging area, and/orstorage area.
 27. The autonomous vehicle as defined in claim 25, whereinsaid collision avoidance/navigation arrangement further causes saidautonomous vehicle to perform one or more functions selected from thegroup consisting of a) avoiding collision or contact with the userduring movement of said autonomous vehicle, b) avoiding collision orcontact with an object during movement of said autonomous vehicle, c)avoiding movement of said autonomous vehicle to an undesired orrestricted location, and/or d) moving said autonomous vehicle to astaging area, charging area, and/or storage area.
 28. A method forcontrolling movement of an autonomous vehicle, the method comprising:providing an autonomous vehicle, said autonomous vehicle including: avehicle frame and a housing connected to said vehicle frame; a drivemechanism connected to said vehicle frame; said drive mechanismconfigured to move said autonomous vehicle; said drive mechanismincluding a plurality of wheels and at least one motor; and, a collisionavoidance/navigation arrangement in communication with a processorsystem; said collision avoidance/navigation arrangement including aplurality of sensors configured to detect one or more objects about saidautonomous vehicle; said collision avoidance/navigation arrangementconfigured to send information to said processor system so that suchinformation causes said autonomous vehicle to avoid collision or contactwith one or more said detected objects; said plurality of sensorsincludes first and second sensor groups; said first sensor groupincludes a first primary sensor; said first primary sensor is a anultra-wide band bandwidth sensor; said second sensor group includes afirst secondary sensor; said first primary sensor is positioned on oneside of said vehicle frame; said first secondary sensor is positioned ona front portion of said vehicle frame and positioned forwardly of saidfirst primary sensor; said first secondary sensor is not an ultra-wideband bandwidth sensor; and, operating said autonomous vehicle, andwherein said autonomous vehicle is configured to avoid collision withobjects by use of said collision avoidance/navigation arrangement duringsaid operation of said autonomous vehicle.
 29. The method as defined inclaim 28, further including the steps of: obtaining location informationof said autonomous vehicle; and, comparing said location information tomap information stored in said autonomous vehicle to facilitate inmovement of said autonomous vehicle.
 30. The method as defined in claim28, further including the steps of: designating authorized andunauthorized locations; and, using said map information and saidlocation information to cause said autonomous vehicle to navigate awayfrom said unauthorized locations and maintain a location within saidauthorized locations.
 31. The method as defined in claim 28, furtherincluding the step of causing said autonomous vehicle to maintain apredetermined following distance behind the user and avoid a potentialcollision with objects in a path of movement of said autonomous vehiclebased at least partially on information from said collisionavoidance/navigation arrangement and information received from saidsmart device.
 32. The method as defined in claim 28, wherein saidcollision avoidance/navigation arrangement further causes saidautonomous vehicle to perform one or more functions selected from thegroup consisting of a) avoiding collision or contact with the userduring movement of said autonomous vehicle, b) avoiding collision orcontact with an object during movement of said autonomous vehicle, c)avoiding movement of said autonomous vehicle to an undesired orrestricted location, and/or d) moving said autonomous vehicle to aparticular staging area, charging area, and/or storage area.